| タイトル | A Control Experiment of Vertical Jumping Motion with 4links Robot |
| その他のタイトル | A Control Experiment of Vertical Jumping Motion with 4links Robot |
| 参考URL | http://t2r2.star.titech.ac.jp/cgi-bin/publicationinfo.cgi?q_publication_content_number=CTT100642779 |
| 著者（日） | 石川, 温人; 関口, 和真; 三平, 満司 |
| 著者（英） | Ishikawa, Atsuto; Sekiguchi, Kazuma; SAMPEI, MITSUJI |
| 発行日 | 2012-09-10 |
| 発行機関など | SICE
計測自動制御学会 |
| 刊行物名 | Proceedings of SICE Annual Conference 2012 |
| 開始ページ | 886 |
| 終了ページ | 891 |
| 刊行年月日 | 2012-08 |
| 言語 | en |
| 内容記述 | This paper presents a control experiment of a vertical jumping motion with 4links Robot. A target system consists of four links and three actuators placed on each joint between the links. This system fullactuated at the initial step, but as the physical constraint varies in a process of jumping motion, the system comes to be underactuated. With the control strategy overcoming these difficulties, we conduct experiments with 4links Robot and show the experimental results. |
| キーワード | Nonlinear Control; Mechanical System Control; Systems Theory and Engineering |
| 資料種別 | Conference Paper |
| URI | https://repository.exst.jaxa.jp/dspace/handle/a-is/607508 |
