WEKO3
アイテム
Weeding Manipulator Exploiting Its Oscillatory Motion for Force Generation: Parameter Optimization of VDP Oscillator using Real-Coded Genetic Algorithm
http://hdl.handle.net/10228/4604
http://hdl.handle.net/10228/460421e48731-bd23-4098-bb3b-caf8c15fc18c
| 名前 / ファイル | ライセンス | アクション |
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ROBIO09_241.pdf (477.0 kB)
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| アイテムタイプ | 会議発表論文 = Conference Paper(1) | |||||||||||
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| 公開日 | 2010-05-17 | |||||||||||
| 資源タイプ | ||||||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_5794 | |||||||||||
| 資源タイプ | conference paper | |||||||||||
| タイトル | ||||||||||||
| タイトル | Weeding Manipulator Exploiting Its Oscillatory Motion for Force Generation: Parameter Optimization of VDP Oscillator using Real-Coded Genetic Algorithm | |||||||||||
| 言語 | en | |||||||||||
| 言語 | ||||||||||||
| 言語 | eng | |||||||||||
| 著者 |
小林, 順
× 小林, 順
WEKO
126
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| 抄録 | ||||||||||||
| 内容記述タイプ | Abstract | |||||||||||
| 内容記述 | This paper addresses parameter optimization of Van der Pol (VDP) oscillator driving a weeding manipulator, which exploits its own oscillatory motion to achieve efficient force generation. The author has confirmed the effectiveness of the exploitation in force generation using simulations. The simulation results have shown that a method using the VDP oscillator attains a superior performance to one using a sinusoidal wave function. In the simulations, however, the parameters of the VDP oscillator have been chosen after several attempts. Therefore, if the parameters are adjusted by an appropriate way, the performance of the force generation method will be improved. In this paper, real-coded genetic algorithm (RCGA), which is an optimization technique, is applied to the parameter optimization of the VDP oscillator because it is easily implementable for nonlinear systems. Simulation results show that RCGA succeeded in finding out sets of better parameters than ones used in the previous study. | |||||||||||
| 書誌情報 |
IEEE International Conference on Robotics and Biomimetics, 2009 p. 1387-1392, 発行日 2009-12-19 |
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| 出版社 | ||||||||||||
| 出版社 | Institute of Electrical and Electronics Engineers | |||||||||||
| DOI | ||||||||||||
| 関連タイプ | isIdenticalTo | |||||||||||
| 識別子タイプ | DOI | |||||||||||
| 関連識別子 | 10.1109/ROBIO.2009.4913185 | |||||||||||
| 著作権関連情報 | ||||||||||||
| 権利情報 | ©2009 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. | |||||||||||
| 出版タイプ | ||||||||||||
| 出版タイプ | VoR | |||||||||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||||||
| 査読の有無 | ||||||||||||
| 値 | yes | |||||||||||
