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コンタクトスポーツ上級者の骨盤回旋運動を規範にしたヒューマノイドロボットのモーメント補償高速歩行
http://hdl.handle.net/10112/5412
http://hdl.handle.net/10112/54129d41150e-0f1b-4791-a8aa-d837ead2d572
名前 / ファイル | ライセンス | アクション |
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KU-1100-20050515-37.pdf (11.8 MB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2011-10-21 | |||||
タイトル | ||||||
言語 | ja | |||||
タイトル | コンタクトスポーツ上級者の骨盤回旋運動を規範にしたヒューマノイドロボットのモーメント補償高速歩行 | |||||
言語 | ||||||
言語 | jpn | |||||
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 | journal article | |||||
その他のタイトル | ||||||
その他のタイトル | Moment Compensation for Fast Dynamic Walking of Humanoids based on Human Athletes Pelvis Rotation | |||||
言語 | en | |||||
著者 |
上田, 淳
× 上田, 淳× 白榮, 健司× 小田, 伸午× 小笠原, 司 |
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著者別名 | ||||||
姓名 | Ueda, Jun | |||||
著者別名 | ||||||
姓名 | Shirae, Kenji | |||||
著者別名 | ||||||
姓名 | Ogasawara, Tsukasa | |||||
概要 | ||||||
内容記述タイプ | Other | |||||
内容記述 | This paper presents a method of momentum compensation around the perpendicular axis of the stance foot during the fast dynamic walk of humanoid robots. In order to perform a task using the arms during a walk, it is desirable that the upper body part, i.e., the arms and the trunk, should not be used for the momentum compensation and should be dedicated to achieving a task. Moreover, a particular walk called a trunk-twistless walk is investigated by experientially observing the pelvic rotation of contact sport athletes. From these observations, an antiphase rotation of the pelvis against the swing leg is observed when compared to the normal walk of a human. This antiphase characteristic of the pelvic rotation is implemented to a humanoid. A method of determining the rotation of the humanoids waist is proposed in conjunction with the pitch angle of the swing legs. The proposed walk achieves a whole walking motion including momentum compensation only by the lower body. The stance foot torque around the perpendicular axis is reduced in the proposed walk compared to a standard humanoid walk without twisting the trunk or swinging the arms. Improvements to the straightness of the walking trajectory and the stability of the upper body during a fast dynamic walk are also confirmed. | |||||
書誌情報 |
日本ロボット学会誌 巻 23, 号 4, p. 457-465, 発行日 2005-05-15 |
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ISSN | ||||||
収録物識別子タイプ | PISSN | |||||
収録物識別子 | 02891824 | |||||
書誌レコードID | ||||||
収録物識別子タイプ | NCID | |||||
収録物識別子 | AN00141189 | |||||
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 | 日本ロボット学会 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Humanoid Robot | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Biped Walking | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Moment Compensation | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Trunk-twisting | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Athlete | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Friction | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Motion Capture |