Contact motion in unknown environment

Humanoid walking pattern modification based on foot-ground equivalent contact control

“…According to Morisawa's research [3], any environmental mode can be described as one or a combined instance of following typical modes, including "up and down", "left and right slope", "inclination and declination", "non-flatness", as shown in Fig.1. Because "Blackmann" is equipped with flat rigid feet [4], it can't walk on uneven ground as shown in Fig.1(d).…”

Controller design for human‐assist robots with force filtering process

“…Mode transformation using the Hadamard matrix can be applied to force feedback as well as to other control components [9]. For example, as also suggested by the theory of grasping and manipulating [10], grasping and manipulating operations in a control system can be separated by means of mode transformation.…”

“…Block diagram of function-based control system. (7) (8) (9) preliminary prioritization allows flexible modification of the control structure according to changing tasks and situations. When the system operates within mechanistic limitations, high priority is given to safety functions.…”

“…In addition, we acquired environment position modes in the same way, and applied them to robot control in order to demonstrate the feasibility of biped walking on uneven ground [9].…”

バイラテラル遠隔操作における環境情報の帯域圧縮伝送方式

“…近年，極限環境下での作業遂行 (10) ，Quarry 行列 (11) ，離散フー リエ変換(DFT：Discrete Fourier Transform)行列 (12) 次に，Fig. り， ẍre f M ， ẍre f S はそれぞれマスタ，スレーブの加速度参照 値を表す。また，C p は位置制御器，C f は力制御器を表す。 外力 f ext は反力推定オブザーバ(RFOB：Reaction Force OBserver)を用いて (9) 式のように力センサレスで推定で きる (17) 。 3…”