560 二足ロボット源兵衛のAnti-ZMPによる瞬間的方向転換「ナンバ・ターン」の発現

元データ 2006-08-06

概要

It seems that the emergence of intelligence in an autonomous robot exists in the dexterity of human or creatures as complex systems and the research style and the development procedure along this approach should be necessary for realization of a real intelligent robot. This paper realized the simple self-sustained humanlike robust instantaneous NANBA TURN about body axis of humanoid biped robot GENBE based on distributed control of physical body in a martial art utilizing instability with Anti-ZMP, which uses only small active power with simple chaotic limit cycle using gravity.

著者

川副 嘉彦 埼玉工業大学工学部
川副 嘉彦 埼玉工大
須永 智文 埼玉工大
桃井 孝昌 埼玉工大

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