| Item type |
デフォルトアイテムタイプ_（フル）(1) |
| 公開日 |
2023-03-18 |
| タイトル |
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|
タイトル |
Torque Pattern Generation Towards the Maximum Jump Height |
|
言語 |
en |
| 作成者 |
Higashimori, Mitsuru
Harada, Manabu
Ishii, Idaku
Kaneko, Makoto
|
| アクセス権 |
|
|
アクセス権 |
open access |
|
アクセス権URI |
http://purl.org/coar/access_right/c_abf2 |
| 権利情報 |
|
|
権利情報 |
Copyright (c) 2006 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted componet of this word in other works must be obtained from the IEEE. |
| 内容記述 |
|
|
内容記述 |
This paper discusses jumping pattern generation for a serial link robot in order to maximize its jump height under torque limitation. By applying a genetic algorithm (GA) for determining torque assignment, we obtain various jumping patterns with respect to the torque limitation for a fixed mass of the robot. With the increase of the torque limitation, doubleleg based jump, single-leg based jump, and spring-type jump are generated for achieving the largest jump height. Under an additional joint angle limitation, we also obtain an interesting solution where one end of the link is first lifted up and the other end finally kicks the ground strongly. |
|
言語 |
en |
| 出版者 |
|
|
出版者 |
IEEE |
| 言語 |
|
|
言語 |
eng |
| 資源タイプ |
|
|
資源タイプ識別子 |
http://purl.org/coar/resource_type/c_5794 |
|
資源タイプ |
conference paper |
| 出版タイプ |
|
|
出版タイプ |
VoR |
|
出版タイプResource |
http://purl.org/coar/version/c_970fb48d4fbd8a85 |
| 関連情報 |
|
|
|
識別子タイプ |
DOI |
|
|
関連識別子 |
10.1109/ROBOT.2006.1641856 |
| 関連情報 |
|
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|
識別子タイプ |
DOI |
|
|
関連識別子 |
http://dx.doi.org/10.1109/ROBOT.2006.1641856 |
| 収録物識別子 |
|
|
収録物識別子タイプ |
ISSN |
|
収録物識別子 |
1050-4729 |
| 収録物識別子 |
|
|
収録物識別子タイプ |
NCID |
|
収録物識別子 |
BA78856954 |
| 開始ページ |
|
|
開始ページ |
1096 |
| 書誌情報 |
Proceedings - IEEE International Conference on Robotics and Automation
Proceedings - IEEE International Conference on Robotics and Automation
巻 2006,
p. 1096-1101,
発行日 2006
|
| 旧ID |
17126 |
ICRA_2006_1096.pdf (666.0 KB)
