Disturbance Force Generator for Biped Robots

Kenji Hashimoto, Kosuke Nishikawa, Juri Shimizu, Aiman Omer, Hun ok Lim, Atsuo Takanishi

研究成果: Chapter

抜粋

This paper describes the mechanism and control of a disturbance force generator that is able to evaluate disturbance compensation control of biped robots quantitatively. The disturbance generator consists of a base, a motor drive system and a suspension system. In order to apply a disturbance force to a biped humanoid robot, a wire wound on a pulley of the disturbance generator is connected with robot’s waist. The effectiveness of the disturbance force generator is verified through several disturbance experiments.

元の言語English
ホスト出版物のタイトルCISM International Centre for Mechanical Sciences, Courses and Lectures
出版者Springer International Publishing
ページ267-274
ページ数8
DOI
出版物ステータスPublished - 2016

出版物シリーズ

名前CISM International Centre for Mechanical Sciences, Courses and Lectures
569
ISSN(印刷物)0254-1971
ISSN(電子版)2309-3706

ASJC Scopus subject areas

  • Modelling and Simulation
  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications

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  • これを引用

    Hashimoto, K., Nishikawa, K., Shimizu, J., Omer, A., Lim, H. O., & Takanishi, A. (2016). Disturbance Force Generator for Biped Robots. : CISM International Centre for Mechanical Sciences, Courses and Lectures (pp. 267-274). (CISM International Centre for Mechanical Sciences, Courses and Lectures; 巻数 569). Springer International Publishing. https://doi.org/10.1007/978-3-319-33714-2_30