著者

寺田 耕志 國吉 康夫

出版者

一般社団法人日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2006, pp."2P1-B26(1)"-"2P1-B26(4)", 2006

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This paper proposes a new method for progressively leading the solution of the ZMP equation by exploiting smoothing with the particle filter. The advantages of this method are high connectivity, wide variations of trajectories and nonlinearity. And we show three numerical experiments in order to test proposed method.