2P2-Q14 多自由度系の低次数化アトラクタ設計と疑似目標値(インフォマティブ・モーションとモーション・メディア-ロボットの身体性と運動-)

概要

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Dance teaching, sports teaching and rehabilitation require to transfer motion skills from a "teacher" to a "student". So far, we proposed a "Pseudo-Reference" based on attractor design method. The pseudo-reference is a virtual reference derived from a controller of an autonomous system. It does not always coincide with the measured posture but gives us the timing and amplitude of the input torque which represents knack of motion. However, for multiple degree of freedom systems, the controller is designed with a high order function and it is not easy to obtain an autonomous system. In this paper, we propose a reduced order controller design method of attractor. Based on the correlation of the measured data, the principal component analysis gives us dimension of the motion. The effectiveness of the reduced controller is evaluated by using the tap dancing robot, and pseudo-reference is applied to multiple degree of freedom system.
一般社団法人日本機械学会の論文
2011-05-26