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ID 17126
file
creator
Higashimori, Mitsuru
Harada, Manabu
Kaneko, Makoto
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.
journal title
Proceedings - IEEE International Conference on Robotics and Automation
volume
Volume 2006
start page
1096
end page
1101
date of issued
2006
publisher
IEEE
issn
1050-4729
ncid
publisher doi
language
eng
nii type
Conference Paper
HU type
Conference Papers
DCMI type
text
format
application/pdf
text version
publisher
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.
relation url
department
Graduate School of Engineering