Contact motion in unknown environment

IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468) Pub Date : 2003-12-01 DOI:10.1109/IECON.2003.1280116

M. Morisawa, T. Tsuji, Y. Nishioka, K. Akuzawa, H. Takahashi, K. Ohnishi

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引用次数: 14

Abstract

This paper describes a contact motion in unknown environment. It is required to take in a kinematic and a dynamic information of unknown environment in order to utilize for control of contact motion. However, an environmental information is obtained only after the robot contacts with environment. Hence, it is difficult to enhance the robustness of the force for contact motion. The design method with the clear characteristic of a contact motion will be required. In this paper, two examples of typical contact motion control are shown. One is a bilateral control and the other is a control of a paddle foot for biped walking. Both controllers are based on acceleration control and the characteristic of systems are clarified by using Hadamard matrix. In order to improve the prospect of the system, the information of environmental mode is quarried by using Hadamard matrix. Modal transmission from environment to the final posture should change adaptively according to the situation. The viability of these approaches for contact motion is shown in numerical simulations.

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未知环境下的接触运动

本文描述了未知环境下的接触运动。为了对接触运动进行控制，需要吸收未知环境的运动学和动力学信息。然而，只有机器人与环境接触后才能获得环境信息。因此，很难提高接触运动力的鲁棒性。将需要具有接触运动的明确特征的设计方法。文中给出了两个典型的接触运动控制实例。一个是双侧控制，另一个是双足行走的桨足控制。两种控制器均以加速度控制为基础，并利用Hadamard矩阵阐明了系统的特性。为了提高系统的应用前景，采用Hadamard矩阵对环境模式信息进行了挖掘。从环境到最终姿态的模态传播应根据情况自适应变化。数值模拟表明了这些方法对接触运动的可行性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468)

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