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Author Sadahiro, T. ♦ Yamakita, M.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2002
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Robot control ♦ Robot kinematics ♦ Robot sensing systems ♦ Lagrangian functions ♦ Leg ♦ Actuators ♦ Humans ♦ Kinetic energy ♦ Equations ♦ Transmission line matrix methods
Abstract The COE Acrobat robot is considered as a model of a gymnast with a horizontal bar. Our final objective is to perform skillful motions with the system same as a gymnast. In this paper, we consider the landing control after actions on the horizontal bar using a linear complementarity problem. We also consider a parameter estimation using the relationship between Lagrange multiplier and sensitivity of the constrained system.
Description Author affiliation: Tokyo Inst. of Technol., Japan (Sadahiro, T.; Yamakita, M.)
ISBN 0780376315
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2002-08-05
Publisher Place Japan
Rights Holder SICE
Size (in Bytes) 322.95 kB
Page Count 6
Starting Page 2537
Ending Page 2542

Source: IEEE Xplore Digital Library