지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- 대한기계학회 Journal of Mechanical Science and Technology Journal of Mechanical Science and Technology Vol.19 No.1[Special Edition]
- 발행연도
- 2005.1
- 수록면
- 452 - 460 (9page)
이용수
초록· 키워드
오류제보하기
Based on an introduced optimal trajectory planning method, this paper mainly deals with the accuracy analysis during the function approximation process of the optimal trajectory planning method The basis functions are composed of Hermit polynomials and Poulter series to Improve the approximation accuracy Since the approximation accuracy is affected by the given orders of each basis function, the accuracy of the optimal solution is examined by changing the combinations of the orders of Hermit polynomials and Fourier series as the approximation basis functions As a result, It is found that the proper approximation basis functions are the 5th order Hermit polynomials and the 7th-10th order of Fourier series
목차
Abstract
1. Introduction
2. Biped Walking Model and Its Dynamic Equations
3. Optimal Trajectory Planning Method
4. Results and Discussions
5. Conclusion
References
참고문헌 (10)
참고문헌 신청
Kuroki, Y, Ishida, T, Yamaguchi, J, Fujita, M and Doi, T, 2001, "A Small Biped Entertainment Robot," Proc IEEE-RAS Int Conference on Humanoid Robots, pp 181~186
Gienger, M, Loffler, K and Pfeiffer, F, 2001, "Towards the Design of Biped Jogging Robot," Proc IEEE Int Conference on Robotics and Automation, pp 4140~4145
Hirose, M, Haikawa, Y, Takenaka, T and Hirai, K, 2001, "Development of Humanoid Robot ASIMO," Proc Int. Conference on Intelligent Robots and Systems, Workshop2
Jessica, R and James, G, 1993, "Human Walking (second edition)," Waverly Company.
Kaneko, K, Kajita, S, Kanehiro, F , Yokoi, K, Fujiwara, K, Hirukawa, H, Kawasaki, T, Hirata, M and Isozumi, T, 2002, "Design of Advanced Leg Module for Humanoid Robotics Project of METI," Proc Int. Conference on Robotics Robots and Automation, Washington,
Gienger, M, Loffler, K and Pfeiffer, F, 2001, "Towards the Design of Biped Jogging Robot," Proc IEEE Int Conference on Robotics and Automation, pp 4140~4145
Hirose, M, Haikawa, Y, Takenaka, T and Hirai, K, 2001, "Development of Humanoid Robot ASIMO," Proc Int. Conference on Intelligent Robots and Systems, Workshop2
Jessica, R and James, G, 1993, "Human Walking (second edition)," Waverly Company.
Kaneko, K, Kajita, S, Kanehiro, F , Yokoi, K, Fujiwara, K, Hirukawa, H, Kawasaki, T, Hirata, M and Isozumi, T, 2002, "Design of Advanced Leg Module for Humanoid Robotics Project of METI," Proc Int. Conference on Robotics Robots and Automation, Washington,
함께 읽어보면 좋을 논문
논문 유사도에 따라 DBpia 가 추천하는 논문입니다. 함께 보면 좋을 연관 논문을 확인해보세요!
-
Managing Approximation in Collaborative Optimization
대한기계학회 춘추학술대회
2001 .10
-
Design and FPGA Implementation of Efficient Discrete Function Generators Using Piecewise Polynomial Approximations
ITC-CSCC :International Technical Conference on Circuits Systems, Computers and Communications
2009 .07
-
Novel Learning Methods of Neural networks and their Applications to Function Approximation
ICONIP : International Conference On Neural Information Processing
1994 .01
-
The nonlinear function approximation based on the neural network application
제어로봇시스템학회 국내학술대회 논문집
2000 .10
-
The nonlinear function approximation based on the neural network application
제어로봇시스템학회 국내학술대회 논문집
2000 .10
-
A Learning Controller for Gate Control of Biped Walking Robot using Fourier Series Approximation
제어로봇시스템학회 국제학술대회 논문집
2001 .10
-
Approximation for the Two-Dimensional Gaussian Q-Function and Its Applications
[ETRI] ETRI Journal
2010 .02
-
Recognition of Profile Contours of Human Face by Approximation - Approximation -
대한전자공학회 학술대회
1988 .07
-
Recognition of Profile Contours of Human Face by Approximation - Approximation-
대한전기학회 학술대회 논문집
1988 .07
-
다항 근사화를 이용한 적외선 소형 객체의 모델링 기법
대한전자공학회 학술대회
2010 .06
-
Constructive Methods of Fuzzy Rules for Function Approximation
ITC-CSCC :International Technical Conference on Circuits Systems, Computers and Communications
2002 .07
-
이점 대각 이차 근사화 기법과 통계적 제한조건을 적용한 강건 최적설계 기법
대한기계학회 논문집 A권
2002 .12
-
Simple High-order Approximations for Unsteady-state Diffusion, Adsorption and Reaction in Catalyst : a Unified Method by a Continued Fraction
제어로봇시스템학회 국제학술대회 논문집
2011 .10
-
Projection-Based Frequency Response Approximations
대한기계학회 춘추학술대회
2014 .04
-
개선된 이점 대각 이차 근사화를 이용한 함수 근사화
대한기계학회 논문집 A권
2004 .04
-
함수 근사 모멘트 방법에서 추정한 1 ~ 4 차 통계적 모멘트의 수치적 검증
대한기계학회 논문집 A권
2007 .04
-
Time-optimal Trajectory Planning for a Robot System under Torque and Impulse Constraints
International Journal of Control, Automation, and Systems
2006 .02
-
Development of Global Function Approximations for Design Optimization Using Evolutionary Fuzzy Modeling
KSME International Journal
2000 .11
이 논문의 저자 정보
최근 본 자료
댓글(0)
0
UCI(KEPA) : I410-ECN-0101-2009-550-014469987