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题名: Locomotion generation of friction board with an inclined slider
作者: Suzuki, Yoshihiro ; Li HY(李洪谊) ; Furuta, Katsuhisa
作者部门: 机器人学研究室
会议名称: 46th IEEE Conference on Decision and Control
会议日期: December 12-14, 2007
会议地点: New Orleans, LA
会议主办者: IEEE Control Syst Soc, United Technologies, Springer, Wiley Blackwell, Taylor & Francis, Princeton Univ Press, Maplesoft, Siam
会议录: PROCEEDINGS OF THE 46TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2007
页码: 1603-1609
收录类别: CPCI(ISTP) ; EI
ISSN号: 0191-2216
ISBN号: 978-1-4244-1497-0
摘要: There are various ways to generate the locomotion and moving systems. In this research, we design a new moving system without wheels, named friction board system, that realizes locomotion with internal actuated mass mounted on an inclined slider of a board. Directional locomotion can be generated by the motion of the internal mass on the slider and friction between the board and the horizontal ground. By inclining the slider, the friction board system can control the friction force and realize more effective locomotion. First, dynamic equations of the friction board system are derived. Then a feedback controller for locomotion is devised using LQ method. Finally the locomotion generation law of the friction board system is verified experimentally.
语种: 英语
产权排序: 2
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8762
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
Suzuki, Yoshihiro; 李洪谊; Furuta, Katsuhisa.Locomotion generation of friction board with an inclined slider.见:IEEE .PROCEEDINGS OF THE 46TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14,NEW YORK,2007,1603-1609
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