WEKO3
アイテム
Walking Pattern and Compensatory Body Motion of Biped Humanoid Robot
http://hdl.handle.net/10487/1491
http://hdl.handle.net/10487/149162217463-8194-44a1-8026-b47752102328
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
kana-3-2-0002.pdf (2.3 MB)
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| Item type | 紀要論文 / Departmental Bulletin Paper(1) | |||||
|---|---|---|---|---|---|---|
| 公開日 | 2009-02-23 | |||||
| タイトル | ||||||
| タイトル | Walking Pattern and Compensatory Body Motion of Biped Humanoid Robot | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| 資源タイプ | ||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
| 資源タイプ | departmental bulletin paper | |||||
| 著者 |
Lim, Hun-ok
× Lim, Hun-ok |
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| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | This paper presents a walking pattern generation method for biped walking. There are three walking phases such as a double support, a swing and a contact phase. In the swing phase, a leg motion pattern is produced by using a six order polynomial, while a leg motion pattern is generated by using a quintic polynomial in the contact and double support phase. When a biped humanoid robot dynamically walks on the ground, moments are produced by the motion of the lower-limbs. So, a moment compensation method is also discussed in this paper. Based on the motion of the lower-limbs and ZMP (Zero Moment Point), the motion of the trunk and the waist is calculated to cancel the moments. Through simulation, the effectiveness of the moment compensation methods is verified. | |||||
| 書誌情報 |
神奈川大学工学研究所所報 巻 28, p. 2-9, 発行日 2005-11 |
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| 書誌レコードID | ||||||
| 収録物識別子タイプ | NCID | |||||
| 収録物識別子 | AN00043601 | |||||
| 著者版フラグ | ||||||
| 出版タイプ | VoR | |||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
| 出版者 | ||||||
| 出版者 | 神奈川大学 | |||||
