Torque Pattern Generation Towards the Maximum Jump Height

Proceedings - IEEE International Conference on Robotics and Automation 2006 巻 1096-1101 頁 2006 発行
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タイトル ( eng )
Torque Pattern Generation Towards the Maximum Jump Height
作成者
Higashimori Mitsuru
Harada Manabu
Kaneko Makoto
収録物名
Proceedings - IEEE International Conference on Robotics and Automation
2006
開始ページ 1096
終了ページ 1101
抄録
This paper discusses jumping pattern generation for a serial link robot in order to maximize its jump height under torque limitation. By applying a genetic algorithm (GA) for determining torque assignment, we obtain various jumping patterns with respect to the torque limitation for a fixed mass of the robot. With the increase of the torque limitation, doubleleg based jump, single-leg based jump, and spring-type jump are generated for achieving the largest jump height. Under an additional joint angle limitation, we also obtain an interesting solution where one end of the link is first lifted up and the other end finally kicks the ground strongly.
言語
英語
資源タイプ 会議発表論文
出版者
IEEE
発行日 2006
権利情報
Copyright (c) 2006 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted componet of this word in other works must be obtained from the IEEE.
出版タイプ Version of Record(出版社版。早期公開を含む)
アクセス権 オープンアクセス
収録物識別子
[ISSN] 1050-4729
[DOI] 10.1109/ROBOT.2006.1641856
[NCID] BA78856954
[DOI] http://dx.doi.org/10.1109/ROBOT.2006.1641856