Robust resonance suppression control based on self resonance cancellation control and self resonance cancellation disturbance observer for application to humanoid robot

被引：0
|
作者：
Aoki, Motonobu [1 ]
Fujimoto, Hiroshi [1 ]
Hori, Yoichi [1 ]
Takahashi, Taro [2 ]
机构：
[1] Department of Advanced Energy, Graduate School of Frontier Science, University of Tokyo, 5-1-5, Kashiwanoha, Kashiwa-shi, Chiba 277-8561, Japan
[2] Advanced Technology Engineering Department, Partner Robot Division, Toyota Motor Corporation, 1-4-18, Koraku, Bunkyo-ku, Tokyo 112-8701, Japan
来源：
IEEJ Transactions on Industry Applications | 2014年 / 134卷 / 04期
关键词：
Disturbance observer - Humanoid robot - Kinematic performance - Model errors - Resonance suppressions - Self resonance - Spring element - Two-inertia system;
D O I：
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学科分类号：
摘要：
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页码：376 / 383
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