コンテンツメニュー

Yokoyama Masaharu


A Development of Steering Patterns of a Humanoid Robot to Steer a Bicycle

宇部工業高等専門学校研究報告 Volume 60 Page 7-10
published_at 2014-03
UN20060000002.pdf
[fulltext] 1.11 MB
Title
自転車を操縦する人型ロボットのハンドル操作パターンの生成
A Development of Steering Patterns of a Humanoid Robot to Steer a Bicycle
Creators Hitaka Yoshikazu
Creators Homma Shota
Creators Nomura Takumi
Creators Yokoyama Masaharu
Source Identifiers
Creator Keywords
humanoid robot mbed operation pattern for the steering of the bicycle inverse kinematics problem
In this study, we have manufactured the control circuit of the servo motor of humanoid robot with a microcomputer board mbed, using the circuit and the operation pattern for the steering of the bicycle. When the robot held with the steering wheel both arms at both ends of the wheel and rotated it, it is derived each joint angle of both arms of the robot by solving the inverse kinematics problem of the position of the hand of the arms. I found from experiments that in some cases the joint angle of the arm is out of its appropriate range when the handle rotating large. Therefore, joints out of its appropriate range, it was possible to control the handlebar of a bicycle, making joints out of its appropriate range set to the maximum moveable joints angles, and adjusting the other joints within the range.
Languages jpn
Resource Type departmental bulletin paper
Publishers 宇部工業高等専門学校
Date Issued 2014-03
File Version Version of Record
Access Rights open access
Relations
[ISSN]0386-4359
[NCID]AN00019833