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例 1 :盛り合わせ 小型ヒューマノイドロボット - PowerPoint PPT Presentation


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B 0 = Base-link B 1 to B 6 = right leg B 7 to B 12 = left leg B 13 to B 16 = right arm B 17 to B 20 = left arm. 例 1 :盛り合わせ 小型ヒューマノイドロボット. 例 1 :盛り合わせ 小型ヒューマノイドロボット. Arms of small dimensions

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B0 = Base-link

B1 to B6 = right leg

B7 to B12 = left leg

B13 to B16 = right arm

B17 to B20 = left arm

例1:盛り合わせ小型ヒューマノイドロボット


1:盛り合わせ小型ヒューマノイドロボット

  • Arms of small dimensions

  • Associated inertial parameters small and difficult to estimate with respect to the sensors resolution

  • To avoid this lack of information:

    • upper limbs fixed in a pose

    • Links B13 to B20 attached to based-link B0

  • 94 base parameters to identify



2:内界センサー大型ヒューマノイドロボット

30 自由度


内界センサ

  • ジャイロ

  • エンコーダ

  • 足首力センサ

    +フィルタリング





全リンクの同定

  • 9種類の動作

    • 足踏み

    • 歩く (前向き)

    • 歩く (後ろ向き)

    • 4 「Conductor Like Motion」(2A2)

      ⇒ 同定には3つの動作を選んだ


実験結果 -検証結果

Walk motion Wfwd1

Conductor Like CL1

Obtained from the force sensors ΣJk1Fk

Obtained from identified data Y B1ϕB

Obtained from CAD data Y B1ϕBCAD


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