| タイトル | Vertical Jumping Motion Control for 4-link Robot |
| その他のタイトル | Vertical Jumping Motion Control for 4-link Robot |
| 参考URL | http://t2r2.star.titech.ac.jp/cgi-bin/publicationinfo.cgi?q_publication_content_number=CTT100629738 |
| 著者（日） | 加藤, 大地; 関口, 和真; 三平, 満司 |
| 著者（英） | Kato, Daichi; Sekiguchi, Kazuma; SAMPEI, MITSUJI |
| 発行日 | 2011-09-22 |
| 発行機関など | SICE |
| 刊行物名 | Proceedings of SICE Annual Conference 2011 |
| 開始ページ | 550 |
| 終了ページ | 555 |
| 刊行年月日 | 2011-09 |
| 言語 | en |
| 内容記述 | This paper describes a control strategy for a vertical jumping motion of 4-link robot. The target system which consists of 4-link and 3-actuator is a model of a human body. This system is underactuate, and constraints of the system are variable in the process of jumping. In this paper, the control strategy which overcomes the difficulties is proposed. Additionally, by comparing a vertical jumping motion of human, the proposed control realizes a humanlike vertical jumping. |
| キーワード | Nonlinear Control; Mechanical Systems Control; Systems Theory; Engineering |
| 資料種別 | Conference Paper |
| URI | https://repository.exst.jaxa.jp/dspace/handle/a-is/607218 |
