文書・図像類

可変力学拘束を持つ周期運動系としての次世代歩行制御理論の基盤構築

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可変力学拘束を持つ周期運動系としての次世代歩行制御理論の基盤構築

Material type
文書・図像類
Author
浅野, 文彦
Publisher
-
Publication date
2015-06-02
Material Format
Digital
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Note (General)：

脚式ロボットのリミットサイクルを規範とした歩行運動の解析法に関して、主に以下の理論的研究成果を得た。運動の線形近似と力学的エネルギーの2次近似を用いることで、衝突姿勢拘束を達成するリミットサイクル型動歩行における状態誤差遷移関数の完全解析解の導出法を考案した。また、この解に基づく動的歩容の安定性と収...

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Digital

Material Type
文書・図像類
Title
可変力学拘束を持つ周期運動系としての次世代歩行制御理論の基盤構築
Author/Editor
浅野, 文彦
Author Heading
浅野, 文彦
Publication Date
2015-06-02
Publication Date (W3CDTF)
2015-06-02
Alternative Title
Next Generation of Control Method for Legged Locomotion as Periodic Motion with Variable Mechanical Constraints
Periodical title
科学研究費助成事業研究成果報告書
Pages
1-6
Text Language Code
jpn