Art

J-GLOBAL ID：202002279008735923   Reference number：20A0704346

Online Generation and Control of Quasi-Static Multi-contact Motion with PWT Jacobian and Contact Wrench Estimation

PWTヤコビ行列と接触レンチ推定を用いた準静的多点接触動作のオンライン生成と制御

Author (5)： HIRAOKA NAOKI (東大 大学院情報理工学系研究科) ,  MUROOKA MASAKI (東大 大学院情報理工学系研究科) ,  NODA SHINTARO (東大 大学院情報理工学系研究科) ,  OKADA KEI (東大 大学院情報理工学系研究科) ,  INABA MASAYUKI (東大 大学院情報理工学系研究科)
Material： ロボティクスシンポジア予稿集  (ロボティクスシンポジア講演論文集)
Volume： 25th  Page： 61-64  Publication year： Mar. 15, 2020 
JST Material Number： L1084B  ISSN： 1881-7300  Document type： Proceedings
Article type： 原著論文  Country of issue： Japan (JPN)  Language： JAPANESE (JA)

Thesaurus term： *intelligent robot ,  *point contact ,  angle ,  wrench ,  Torque ,  Jacobian matrix ,  *kinematics ,  joint torque ,  joint angle ,  *inverse kinematics ,  *humanoid robot
Semi thesaurus term： *humanoid

JST classification (1)： Robot engineering in general  (IC04011S)

Reference (6)：

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Terms in the title (4)： ヤコビ行列 ,  レンチ ,  推定 ,  オンライン