ZMPの3次元的操作による可捕性規範凹凸地面上二脚運動制御

Tomomichi Sugihara and Stéphane Caron. RSJ 2020, Japan, October 2020.

Abstract

二脚ロボットを実用する上で,高低差のある地形を移動する機能は必須である.限られた足場で着地点を選び,転倒を避けながら重心を制御する方法が求められる.梶田ら [1] はその先駆的な研究において,凹凸地形に合わせて上下動を伴う重心の運動と支持足の切り替えを適切に連動させる歩行制御法を提案した.その際,重心運動を直線上に拘束することで導かれた線形な倒立振子様の力学系を用いて,議論を簡明にした.

(There are no abstract in RSJ papers, this is actually the first paragraph of the introduction.)

Content

pdf Short paper

BibTeX

@inproceedings{sugihara2020rsj,
  title = {ZMPの3次元的操作による可捕性規範凹凸地面上二脚運動制御},
  author = {Sugihara, Tomomichi and Caron, St{\'e}phane},
  booktitle = {日本ロボット学会学術講演会予稿集},
  volume={38},
  year = {2020},
  month = oct,
}

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