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〈研究論文〉倒立振子機構に基づく階段昇降ロボットの姿勢制御
https://kindai.repo.nii.ac.jp/records/7364
https://kindai.repo.nii.ac.jp/records/7364136e3227-ad6e-4a7b-96c5-28090a21c9c7
名前 / ファイル | ライセンス | アクション |
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AN00063799-20131220-0059.pdf (1.1 MB)
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Item type | ☆紀要論文 / Departmental Bulletin Paper(1) | |||||
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公開日 | 2014-01-31 | |||||
タイトル | ||||||
タイトル | 〈研究論文〉倒立振子機構に基づく階段昇降ロボットの姿勢制御 | |||||
その他(別言語等)のタイトル | ||||||
その他のタイトル | 〈Original Papers〉A Control Method for Stair-climbing Personal Mobility Robot Based on Inverted Pendulum Mechanism | |||||
著者 |
友國, 伸保
× 友國, 伸保× 三井, 賀貴× 小竹, 元基 |
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言語 | ||||||
言語 | jpn | |||||
キーワード | ||||||
主題 | Inverted pendulum, personal mobility | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
資源タイプ | departmental bulletin paper | |||||
著者(英) | ||||||
en | ||||||
TOMOKUNI, Nobuyasu | ||||||
著者(英) | ||||||
en | ||||||
MITSUI, Yoshitaka | ||||||
著者(英) | ||||||
en | ||||||
SHINO, Motoki | ||||||
著者 所属 | ||||||
近畿大学工学部ロボティクス学科 | ||||||
著者 所属 | ||||||
東京大学 | ||||||
著者 所属 | ||||||
東京大学 | ||||||
著者所属(翻訳) | ||||||
Dept. of Robotics, Faculty of Engineering, Kinki University | ||||||
著者所属(翻訳) | ||||||
The University of Tokyo | ||||||
著者所属(翻訳) | ||||||
The University of Tokyo | ||||||
版 | ||||||
出版タイプ | VoR | |||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
出版者 名前 | ||||||
出版者 | 近畿大学工学部 | |||||
書誌情報 |
近畿大学工学部研究報告 en : Research reports of the Faculty of Engineering, Kinki University 巻 47, p. 59-62, 発行日 2013-12-01 |
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ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 0386491X | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | [synopsis] In this paper, a control method for an inverted pendulum type personal mobility robot with virtual wheel is described. The robot is able to run on not only paved flat plane but also stairs with two virtual wheels consists of rotaly link and two wheels. By using this contol method based on LQR with 2 dimentional physical model, a inverted pendulum type personal mobility robot is able to climb a stairs in simulation. | |||||
フォーマット | ||||||
内容記述タイプ | Other | |||||
内容記述 | application/pdf |