複合情報学専攻 修士論文 (2010 年 2 月 10 日)水中小型ヒューマノイドロボットの立位姿勢における移動行動学習 複雑系工学講座 調和系工学研究室 修士 2 年 中林 佑太 Adaptive Und...
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Nakabayashi m abst

Published on: Mar 3, 2016
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  • 1. 複合情報学専攻 修士論文 (2010 年 2 月 10 日)水中小型ヒューマノイドロボットの立位姿勢における移動行動学習 複雑系工学講座 調和系工学研究室 修士 2 年 中林 佑太 Adaptive Underwater Locomotive for Small Humanoid Robot with Standing Posture Research Group of Complex Systems Engineering Laboratory of Harmonious Systems Engineering MC2 Yuta NakabayashiAbstract: This paper describes about the locomotive for small humanoid robot in the aquaticenvironment. Its possible to achieve various movement from the body as application of ahumanoid robot, and its considered to make them substitute for the work to which humanwent in the extreme environment heretofore. Its possible to mention aquatic environmentas the example, and a study of a robot in the water with the various shapes aiming atapplying to maintenance work of underwater structure is becoming popular. However, disturbance by a change in a flow and influence by a power balance of buoyancyand gravity have a profound effect on robot posture in the water, also diversity of the controltarget amount comes about a lot by many actuators, and therefore behavior control becomesdifficult. In this paper, the model of the humanoid robot on which the buoyancy acts is planned, andinspected the movement by which realization is possible, targeting a robots movementbehavior in the water by an experiment.研究業績(査読付き学術論文,国際会議講演論文,国内講演論文等):1. 中林 佑太, 西岡 良太, 山形 佳史, 川村 秀憲, 大内 東, 高谷 敏彦, “屋内自律飛行船における自己組織的な群飛 行”, 情報処理学会研究報告 2008-ICS-151 (知能と複雑系研究会), pp.91-96 , (2008).2. 中林 佑太, 川村 秀憲, 鈴木 恵二, ”小型ヒューマノイドロボットによる水中移動状況の検証”, 情報処理北海道シ ンポジウム, 旭川, pp. 118-119, (2009).

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