力変動を想定した脚式移動マニピュレータの作業姿勢・関節トルク配分
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概要
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The optimal configuration and joint torque distribution of a humanoid robot for generating desired force at its hands is discussed. The robot is required to stand stably and to support the force and its weight under the constraint of maximum joint torques. Furthermore, it is important to keep the robot controllable against sudden change in the force. From this point of view, an evaluation function for generating large force based on statics is proposed; we focus jacobian matrices of two arms and legs to give the robot adaptability to force change. Then the method of obtaining the optimal configuration, footholds and joint torques of the robot is described. The effects of the method are verified through computer simulations.
- 日本実験力学会の論文
日本実験力学会 | 論文
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- 複数縁き裂の応力拡大係数の干渉効果(中央部き裂のKと各き裂のK,K_について)
- 複数縁き裂の応力拡大係数の干渉効果(中央部き裂のKと各き裂のK,K_について)
- 複数縁き裂の応力拡大係数の干渉効果(中央部き裂のKと各き裂のK,K_について)