1A2-G24 軌道アトラクタを用いた自律制御系に基づく運動伝達のための擬似目標値

概要

論文の詳細を見る
We aim at developing a motion transfer method with implicit knowledge. The method includes dynamical characteristics of motion, which are not only kinematic postures but also their velocities, to realize an efficient motion transfer. Actually in the textbook of gymnastics, motions are illustrated both kinematic postures and some dynamical complements. However the complements are designed based on athlete's instincts and it is not easy to embody the implicit instincts for us. To overcome this problem, we propose the embodiment method of the complements. The human autonomous system is modeled by the autonomous control system, and the complements are realized by the virtual target posture including velocity information as the 'pseudo-reference' in the autonomous control system. The proposed method is applied to the tap dancing robot. The obtained pseudo-reference can realize the same motion to be used as an explicit reference in the robot control system.
一般社団法人日本機械学会の論文