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Mixed Integer Programming-Based Semiautonomous Step Climbing of a Snake Robot Considering Sensing Strategy
https://uec.repo.nii.ac.jp/records/9312
https://uec.repo.nii.ac.jp/records/93126833c864-0bed-47f1-81be-9deebf3dfd15
名前 / ファイル | ライセンス | アクション |
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2016_TCST_kon (4.8 MB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2019-07-30 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Mixed Integer Programming-Based Semiautonomous Step Climbing of a Snake Robot Considering Sensing Strategy | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
言語 | en | |||||
主題 | Trajectory generation | |||||
キーワード | ||||||
言語 | en | |||||
主題 | Step climbing | |||||
キーワード | ||||||
言語 | en | |||||
主題 | Mixed integer programming | |||||
キーワード | ||||||
言語 | en | |||||
主題 | Sensing strategy | |||||
キーワード | ||||||
言語 | en | |||||
主題 | Snake robot | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
資源タイプ | journal article | |||||
著者 |
Kon, Kazuyuki
× Kon, Kazuyuki× Tanaka, Motoyasu× Tanaka, Kazuo |
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抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | We propose a control method for semiautonomous step climbing by a snake robot. Our method is based on mixed integer quadratic programming to generate the reference trajectory of the head of the snake robot online. One of the features of the method is that it determines suitable positions and time duration in which to sense the surroundings before approaching the step. Furthermore, constraints on velocity and acceleration are taken into account, so that the snake robot can securely follow the generated trajectory. Our method was applied to a snake robot equipped with a laser range finder, which is used for step detection. Experiments were performed to verify the efficacy of the method. | |||||
書誌情報 |
en : IEEE Transactions on Control Systems Technology 巻 24, 号 1, p. 252-264, 発行日 2016-01 |
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出版者 | ||||||
出版者 | IEEE | |||||
ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 1063-6536 | |||||
DOI | ||||||
関連タイプ | isVersionOf | |||||
識別子タイプ | DOI | |||||
関連識別子 | 10.1109/TCST.2015.2429615 | |||||
権利 | ||||||
権利情報 | © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. This is not the published version. Please cite only the published version. | |||||
関連サイト | ||||||
識別子タイプ | DOI | |||||
関連識別子 | https://doi.org/10.1109/TCST.2015.2429615 | |||||
著者版フラグ | ||||||
出版タイプ | AM | |||||
出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa |