WEKO3
アイテム
Systematic Design of the Time-Independent and Computable Controller Based on Zero-Division-Avoidable Smoother for a Desired Orbit in Phase Space
http://hdl.handle.net/10458/0002001573
http://hdl.handle.net/10458/00020015737d560441-210b-474a-b65c-63f2e6ce19da
| 名前 / ファイル | ライセンス | アクション |
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AuthorManuscript (2.4 MB)
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© 2025 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
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| アイテムタイプ | 学術雑誌論文 / Journal Article(1) | |||||||||||
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| 公開日 | 2025-08-18 | |||||||||||
| タイトル | ||||||||||||
| タイトル | Systematic Design of the Time-Independent and Computable Controller Based on Zero-Division-Avoidable Smoother for a Desired Orbit in Phase Space | |||||||||||
| 言語 | en | |||||||||||
| 言語 | ||||||||||||
| 言語 | eng | |||||||||||
| キーワード | ||||||||||||
| 言語 | en | |||||||||||
| キーワード | Motion control | |||||||||||
| キーワード | ||||||||||||
| 言語 | en | |||||||||||
| キーワード | physical human-robot interaction | |||||||||||
| 資源タイプ | ||||||||||||
| 資源タイプ | journal article | |||||||||||
| アクセス権 | ||||||||||||
| アクセス権 | open access | |||||||||||
| 著者 |
舛屋, 賢
× 舛屋, 賢
WEKO
35428
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| 抄録 | ||||||||||||
| 内容記述タイプ | Abstract | |||||||||||
| 内容記述 | This letter proposes a method to systematically design a time-independent controller for a desired orbit in phase space. A time-independent controller is essential in robots that physically interact with humans or the environment. An approach to designing such a controller is based on the virtual dynamics of the desired orbit (VDDO), in which the desired orbit is assumed as a constraint. However, depending on the desired orbit, zero-division happens, and then the computation of control input breaks down. To address this issue, a zero-division-avoidable smoother, which functions as a low-pass filter and maintains computability even when the computation includes zero-division, is applied to compute the controller input based on the VDDO. This application establishes a systematic design of a VDDO-based controller that avoids zero-division. We investigated the performance of the proposed controller via experiments and simulations for three given orbits: a unit circle, super-ellipse, and spiric section. Results showed that the proposed time-independent controller can avoid zero-division while approaching the desired orbits. Furthermore, an experiment in which a human forces a robot to stop showed that the robot could restart from an unfavorable state and approach the desired orbits once more. | |||||||||||
| 言語 | en | |||||||||||
| 書誌情報 |
en : IEEE Robotics and Automation Letters 巻 10, 号 9, p. 9272-9279, 発行日 2025-07-23 |
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| 出版者 | Institute of Electrical and Electronics Engineers (IEEE) | |||||||||||
| 言語 | en | |||||||||||
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| 収録物識別子タイプ | EISSN | |||||||||||
| 収録物識別子 | 2377-3766 | |||||||||||
| DOI | ||||||||||||
| 関連タイプ | isVersionOf | |||||||||||
| 識別子タイプ | DOI | |||||||||||
| 関連識別子 | https://doi.org/10.1109/LRA.2025.3592132 | |||||||||||
| 権利 | ||||||||||||
| 権利情報 | © 2025 IEEE. All rights reserved, including rights for text and data mining and training of artificial intelligence and similar technologies. Personal use is permitted, but republication/redistribution requires IEEE permission. See https://www.ieee.org/publications/rights/index.html for more information. | |||||||||||
| 言語 | en | |||||||||||
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| 出版タイプ | AM | |||||||||||
