Locomotion generation of friction board with an inclined slider

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Locomotion generation of friction board with an inclined slider
	Suzuki, Yoshihiro; Li HY(李洪谊); Furuta, Katsuhisa
	2007
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
页码	1603-1609
中文摘要	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.
收录类别	EI ; CPCI（ISTP）
产权排序	2
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
语种	英语
ISSN号	0191-2216
ISBN号	978-1-4244-1497-0
WOS记录号	WOS:000255181700266
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8762]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Suzuki, Yoshihiro,Li HY,Furuta, Katsuhisa. Locomotion generation of friction board with an inclined slider[C]. 见:46th IEEE Conference on Decision and Control. New Orleans, LA. December 12-14, 2007.