slide1
Download
Skip this Video
Download Presentation
例 1 :盛り合わせ 小型ヒューマノイドロボット

Loading in 2 Seconds...

play fullscreen
1 / 10

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


  • 40 Views
  • Uploaded on

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

loader
I am the owner, or an agent authorized to act on behalf of the owner, of the copyrighted work described.
capcha
Download Presentation

PowerPoint Slideshow about '例 1 :盛り合わせ 小型ヒューマノイドロボット' - trenton-dempsey


An Image/Link below is provided (as is) to download presentation

Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author.While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server.


- - - - - - - - - - - - - - - - - - - - - - - - - - E N D - - - - - - - - - - - - - - - - - - - - - - - - - -
Presentation Transcript
slide1
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
slide2
例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
slide5
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

slide9
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

slide10
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

ad