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J-GLOBAL ID：202002289310455321
Reference number：20A1159704 Walking on Uneven Terrain with Passivity-Based Contact Force Control on Torque-Controlled Hydraulic Biped Robot
トルク制御型油圧2足歩行ロボットにおける受動性に基づく接触力制御による不整地歩行
ClipsHIRAYAMA KENTA
About HIRAYAMA KENTA
(立命館大学)
, HIROSAWA NOZOMU
About HIROSAWA NOZOMU
(立命館大学)
, Hyon Sang-Ho
About Hyon Sang-Ho
(立命館大学)
Material：
日本ロボット学会誌
(ロボ學)
About 日本ロボット学会誌
Volume： 38 Issue： 1 Page： 104-112(J-STAGE) Publication year： 2020
JST Material Number： Y0482A ISSN： 0289-1824 Document type： Article
Article type： 原著論文 Country of issue： Japan (JPN) Language： JAPANESE (JA)
Thesaurus term：
Semi thesaurus term：
Thesaurus term/Semi thesaurus term
Keywords indexed to the article.
All keywords is available on JDreamIII(charged).
On J-GLOBAL, this item will be available after more than half a year after the record posted. In addtion, medical articles require to login to MyJ-GLOBAL.
Keywords indexed to the article.
All keywords is available on JDreamIII(charged).
On J-GLOBAL, this item will be available after more than half a year after the record posted. In addtion, medical articles require to login to MyJ-GLOBAL.
*torque control
, About torque control
*intelligent robot
, About intelligent robot
*stabilization
, About stabilization
*adaptability
, About adaptability
*recognition
, About recognition
*locus
, About locus
*orbit (trajectory)
, About orbit (trajectory)
*hardware
, About hardware
humanoid robot
, About humanoid robot
attitude stabilization
, About attitude stabilization
motion trajectory
About motion trajectory
Semi thesaurus term：
Thesaurus term/Semi thesaurus term
Keywords indexed to the article.
All keywords is available on JDreamIII(charged).
On J-GLOBAL, this item will be available after more than half a year after the record posted. In addtion, medical articles require to login to MyJ-GLOBAL.
Keywords indexed to the article.
All keywords is available on JDreamIII(charged).
On J-GLOBAL, this item will be available after more than half a year after the record posted. In addtion, medical articles require to login to MyJ-GLOBAL.
motion trajectory
, About motion trajectory
environment recognition
About environment recognition
Author keywords (5)：
Passivity
, About Passivity
Force Control
, About Force Control
Biped Walking
, About Biped Walking
Terrain Adaptation
, About Terrain Adaptation
Hydraulics
About Hydraulics
JST classification (1)：
JST classification
Category name(code) classified by JST.
Motion and control of robots
Category name(code) classified by JST.
(IC04012J)
About Motion and control of robots
Reference (17)：
- 1) K. Hirai, M. Hirose, Y. Haikawa and T. Takenaka: “The development of Honda humanoid robot,” Proc. of the IEEE Int. Conf. on Robotics and Automation, pp.1321-1326, 1998.
- 2) S. Lohmeier, T. Buschmann and H. Ulbrich: “System design and control of anthropomorphic walking robot LOLA,” IEEE/ASME Trans. on Mechatronics, vol.14, no.6, pp.658-666, 2009.
- 3) A. van der Schaft: L2-Gain and Passivity Techniques in Nonlinear Control, Springer, 1999.
- 4) S. Arimoto, M. Sekimoto, H. Hashiguchi and R. Ozawa: “Natural resolution of ill-posedness of inverse kinematics for redundant robots: A challenge to Bernstein's degrees-of-freedom problem,” Advanced Robotics, vol.19, no.4, pp.401-434, 2005.
- 5) S. Hyon and G. Cheng: “Passivity-based full-body force control for humanoids and application to dynamic balancing and locomotion,” Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.4915-4922, 2006.
Terms in the title (7)：
Terms in the title
Keywords automatically extracted from the title.
Keywords automatically extracted from the title.
トルク制御
, About トルク制御
油圧
, About 油圧
2足歩行ロボット
, About 2足歩行ロボット
受動性
, About 受動性
力制御
, About 力制御
不整地
, About 不整地
歩行
About 歩行
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