Skill of compliance with controlled charging/discharging of kinetic energy
Skill of compliance with controlled charging/discharging of kinetic energy
复制标题
遵守受控动能充电/放电的技能
DOI：
10.1109/robot.2002.1013600
复制
发表时间：
2002
期刊：
影响因子：
--
通讯作者：
Yoshihiko Nakamura
中科院分区：
文献类型：
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作者：
M. Okada;S. Ban;Yoshihiko Nakamura
使用肌肉顺应性是人类与生俱来的技能。通过利用顺从构件中所蕴含的势能，我们可以巧妙地平衡肌肉和身体的特性。集成合规性技能将为机器人提供更高的机动性、灵巧性和安全性，拓展应用领域。柔顺技能的主要研究问题是调整被动柔顺、规划柔顺运动和设计控制律。为了实现该技能，我们专注于考虑动能的规划顺从运动。在本文中，我们建议通过迭代模型识别和运动设计来设计柔顺运动。采用具有被动顺应性的仿人机器人，将顺应性技能融会贯通，表现出快速摆动充放电动能。
Use of compliance in muscle is the inherent skill of a human. By using the potential energy charged in the compliant members, we can skillfully equalize the characteristics of muscles and body. Integrating the skill of compliance will provide robots with higher mobility, dexterity and safety and extends the fields of applications. The main research issues of the skill of compliance are tuning passive compliance, planning compliant motion and designing control law. To achieve the skill, we focus on the planning compliant motion considering the kinetic energy. In this paper, we propose to design a compliant motion through iterative model identification and motion design. A humanoid robot with passive compliance is used to integrate the skill of compliance and shows fast swing charging and discharging the kinetic energy.
控制论肩部的开发 - 模仿生物肩部运动的三自由度机构 -
DOI：
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发表时间：
2005
期刊：
IEEE Transactions on Robotics 21・3
影响因子：
--
作者：
Masafumi Okada;Yoshihiko Nakamura
通讯作者：
Yoshihiko Nakamura