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Paper Abstract and Keywords
Presentation 2014-03-18 15:20
Repetitive control of a humanoid robot with consideration of balance constraints
Kenji Goto, ChangHyun Sung, Takahiro Kagawa, Yoji Uno (Nagoya Univ.) NC2013-142
Abstract (in Japanese) (See Japanese page) 
(in English) The motion of a humanoid robot should be planned to achieve a given task, subject to meeting various constraints including standing balance and joint angle. In this study, we address replanning of whole body motion using the minimum jerk trajectory with a via-point. A via-point is pecified on a joint angle trajectory to satisfy the task conditions, some perturbation is given to the via-point, and the relation the between the via-point and the result is expressed as Jacobian. The motion can be modified to achieve the task by the chane of the via-point using the Jacobian. Furthermore, considering the limitation of standing balance,
the modification parameter is limited for the cause of the constraints.
We applied the repetitive control method to the throwing motion of a humanoid robot HOAP-3, and confirmed the effectiveness.
Keyword (in Japanese) (See Japanese page) 
(in English) Humanoid robot / ZMP / Repetitive control / Motion planning / / / /  
Reference Info. IEICE Tech. Rep., vol. 113, no. 500, NC2013-142, pp. 311-316, March 2014.
Paper # NC2013-142 
Date of Issue 2014-03-10 (NC) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
Copyright
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reproduction
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
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Conference Information
Committee NC MBE  
Conference Date 2014-03-17 - 2014-03-18 
Place (in Japanese) (See Japanese page) 
Place (in English) Tamagawa University 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To NC 
Conference Code 2014-03-NC-MBE 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Repetitive control of a humanoid robot with consideration of balance constraints 
Sub Title (in English)  
Keyword(1) Humanoid robot  
Keyword(2) ZMP  
Keyword(3) Repetitive control  
Keyword(4) Motion planning  
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1st Author's Name Kenji Goto  
1st Author's Affiliation Nagoya University (Nagoya Univ.)
2nd Author's Name ChangHyun Sung  
2nd Author's Affiliation Nagoya University (Nagoya Univ.)
3rd Author's Name Takahiro Kagawa  
3rd Author's Affiliation Nagoya University (Nagoya Univ.)
4th Author's Name Yoji Uno  
4th Author's Affiliation Nagoya University (Nagoya Univ.)
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Speaker Author-1 
Date Time 2014-03-18 15:20:00 
Presentation Time 20 minutes 
Registration for NC 
Paper # NC2013-142 
Volume (vol) vol.113 
Number (no) no.500 
Page pp.311-316 
#Pages
Date of Issue 2014-03-10 (NC) 


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