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ID 17126
本文ファイル
著者
Higashimori, Mitsuru
Harada, Manabu
Kaneko, Makoto
抄録(英)
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.
掲載誌名
Proceedings - IEEE International Conference on Robotics and Automation
2006巻
開始ページ
1096
終了ページ
1101
出版年月日
2006
出版者
IEEE
ISSN
1050-4729
NCID
出版者DOI
言語
英語
NII資源タイプ
会議発表論文
広大資料タイプ
会議発表論文
DCMIタイプ
text
フォーマット
application/pdf
著者版フラグ
publisher
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.
関連情報URL
部局名
工学研究科