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Real-time generation for optimal robot motion
http://hdl.handle.net/2241/6345
http://hdl.handle.net/2241/634589629d30-a4a0-4365-8960-03a3450e3630
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A3699.pdf (1.6 MB)
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1.pdf (24.0 MB)
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Item type | Thesis or Dissertation(1) | |||||
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公開日 | 2007-07-25 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Real-time generation for optimal robot motion | |||||
言語 | ||||||
言語 | jpn | |||||
資源タイプ | ||||||
資源 | http://purl.org/coar/resource_type/c_db06 | |||||
タイプ | doctoral thesis | |||||
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 | |||||
著者 |
竹内, 裕喜
× 竹内, 裕喜 |
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抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | Robot movement generation requires optimization treatment. However, the need for off-line computation makes it difficult to apply traditional optimization techniques to real-time robot control. An important goal is to develop a new algorithm that allows for real-time optimization. The most likely candidate which is called as Receding Horizon Control or Model Predictive Control algorithms have yet to be widely applied to real-time robot control environments. This thesis uses a legged robots as a control object, one that possesses unstable dynamics and requires specific balance conditions, with the Zero Moment Point balance condition being a particulary important challenge. Equal constraint, proposed in this thesis as a means for meeting such conditions during optimization formulation, overcomes Zero Moment Point problems. The state variable inequality constraint is a complex challenge because the optimal path must tangentially enter a constrained arc, and one or more time constraint derivatives must equal zero at all entry points. A second challenge addressed in this thesis is the description of a legged robot's swing leg condition as a state variable inequality. Both the nonlinear swing leg and Zero Moment Point balance conditions are involved Receding Horizon Control formulation. ・・・ | |||||
言語 | en | |||||
内容記述 | ||||||
内容記述タイプ | Other | |||||
内容記述 | Includes bibliographical references | |||||
言語 | en | |||||
内容記述 | ||||||
内容記述タイプ | Other | |||||
内容記述 | Includes supplementary treatises | |||||
言語 | en | |||||
書誌情報 |
発行日 2005 |
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取得学位 | ||||||
学位名 | 博士(工学) | |||||
取得学位 | ||||||
学位名 | Doctor of Philosophy in Engineering | |||||
学位授与大学 | ||||||
学位授与機関識別子Scheme | kakenhi | |||||
学位授与機関識別子 | 12102 | |||||
言語 | ja | |||||
学位授与機関名 | 筑波大学 | |||||
言語 | en | |||||
学位授与機関名 | University of Tsukuba | |||||
学位授与年度 | ||||||
内容記述タイプ | Other | |||||
内容記述 | 2004 | |||||
学位授与年月日 | ||||||
学位授与年月日 | 2005-03-25 | |||||
報告番号 | ||||||
学位授与番号 | 甲第3699号 |