ニイヤマ　リュウマ   NIIYAMA RYUMA   新山　龍馬    所属   明治大学  理工学部    職種   専任准教授
言語種別	英語
発行・発表の年月	2018
形態種別	国際会議議事録
査読	査読あり
標題	Aerial-Biped: a new physical expression by the biped robot using a quadrotor
執筆形態	共著(筆頭者以外)
掲載誌名	SIGGRAPH'18: ACM SIGGRAPH 2018 EMERGING TECHNOLOGIES
掲載区分	国外
出版社・発行元	ASSOC COMPUTING MACHINERY
著者・共著者	Azumi Maekawa, Ryuma Niiyama, Shunji Yamanaka
概要	We present a biped robot which can move agiler than conventional robots. Our robot can generate bipedal walking motion automatically using the proposed method. By using a quadrotor for balance and movement it is possible to make an agiler movement, and generate a gait interactively and in real time according to the motion of the quadrotor using the optimized control policy of the legs. Our system takes the velocity of the quadrotor as an input and legs motions are produced so that the velocity of the foot in contact with the ground to zero, and bipedal walking motion is generated. The control policy is optimized using reinforcement learning with a physics engine.
DOI	10.1145/3214907.3214928