| Presentation | 2016-03-22 Control of whole-body movement allowing the variability of posture Kazuki Kumazawa, Takahiro Kagawa, Shunta Togo, Yoji Uno, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | In a whole-body reaching movement, it is important to control COM within the base of support for keeping standing posture. This study proposes a control method allowing the variability of posture without using unique desired joint angle and extends the proposed method allowing fluctuation of COM. As an example for whole-body control task, we performed a simulation experiment of a five-link arm under a perturbation, and compared the proposed method with the conventional PD control method. We confirmed that the proposed method accomplished a task with smaller torque for the perturbation than that of the PD control method. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Redundancy / Postural control / Base of support / Whole-body movement |
| Paper # | NC2015-95 |
| Date of Issue | 2016-03-15 (NC) |
| Conference Information | |
| Committee | MBE / NC |
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| Conference Date | 2016/3/22(2days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Tamagawa University |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Chair | Tetsuo Kobayashi(Kyoto Univ.) / Toshimichi Saito(Hosei Univ.) |
| Vice Chair | Yutaka Fukuoka(Kogakuin Univ.) / Shigeo Sato(Tohoku Univ.) |
| Secretary | Yutaka Fukuoka(akita noken) / Shigeo Sato(Kogakuin Univ.) |
| Assistant | Takenori Oida(Kyoto Univ.) / Ryota Horie(Shibaura Inst. of Tech.) / Hiroyuki Kanbara(Tokyo Inst. of Tech.) / Hisanao Akima(Tohoku Univ.) |
| Paper Information | |
| Registration To | Technical Committee on ME and Bio Cybernetics / Technical Committee on Neurocomputing |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Control of whole-body movement allowing the variability of posture |
| Sub Title (in English) | |
| Keyword(1) | Redundancy |
| Keyword(2) | Postural control |
| Keyword(3) | Base of support |
| Keyword(4) | Whole-body movement |
| 1st Author's Name | Kazuki Kumazawa |
| 1st Author's Affiliation | Nagoya University(Nagoya Univ.) |
| 2nd Author's Name | Takahiro Kagawa |
| 2nd Author's Affiliation | Nagoya University(Nagoya Univ.) |
| 3rd Author's Name | Shunta Togo |
| 3rd Author's Affiliation | Advanced Telecommunications Research Institute International/JSPS(ATR/JSPS) |
| 4th Author's Name | Yoji Uno |
| 4th Author's Affiliation | Nagoya University(Nagoya Univ.) |
| Date | 2016-03-22 |
| Paper # | NC2015-95 |
| Volume (vol) | vol.115 |
| Number (no) | NC-514 |
| Page | pp.pp.149-154(NC), |
| #Pages | 6 |
| Date of Issue | 2016-03-15 (NC) |