624 運動特性を保存した非線形状態空間写像とアナロジーに基づくコントローラ設計

概要

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It is an effective way to use the information of the existing controller to generate a new robot motion from the point of view of calculation cost. So far, based on the attractor design method, a combination design method of a new controller has been proposed. In this method, the common elements of robot body and motion are abstracted from the existing controller parameters, and a new motion is generated by combining these elements. However, to abstract the motion elements, it requires the similarity of the different robots. In this paper, we proposed a state space mapping to uniform the similarity of the robot motions and a new controller design method. The effectiveness of the proposed method is evaluated by the experiments using tap dancing robots.
一般社団法人日本機械学会の論文
2009-08-03