Torque Pattern Generation Towards the Maximum Jump Height

Proceedings - IEEE International Conference on Robotics and Automation Volume 2006 Page 1096-1101 published_at 2006
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Title ( eng )
Torque Pattern Generation Towards the Maximum Jump Height
Creator
Higashimori Mitsuru
Harada Manabu
Kaneko Makoto
Source Title
Proceedings - IEEE International Conference on Robotics and Automation
Volume 2006
Start Page 1096
End Page 1101
Abstract
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.
Language
eng
Resource Type conference paper
Publisher
IEEE
Date of Issued 2006
Rights
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.
Publish Type Version of Record
Access Rights open access
Source Identifier
[ISSN] 1050-4729
[DOI] 10.1109/ROBOT.2006.1641856
[NCID] BA78856954
[DOI] http://dx.doi.org/10.1109/ROBOT.2006.1641856