@inproceedings{oai:toyama.repo.nii.ac.jp:00003297,
 author = {塚田, 茂和 and 羽多野, 正俊 and 大住, 剛 and 小原, 治樹 and 高瀬, 博文},
 book = {年次大会講演論文集 : JSME annual meeting},
 issue = {01-1},
 month = {Aug},
 note = {application/pdf, We propose an inverse dynamics controller using the genetic algorithm (GA) for moving operations performed by a mobile manipulator traveling on unknown irregular terrain. When a mobile manipulator travels on irregular terrain, the mobile manipulator's hand is subjected to influences of disturbance torques generated by irregularities. In this paper, we developed a dynamic compensation controller using the GA and evaluated its control performance. Then, it is shown that the proposed controller can estimate a terrain shape and can decrease control errors against disturbance torques., Article},
 pages = {207--208},
 publisher = {社団法人日本機械学会},
 title = {凹凸路面を走行する移動マニピュレータの運動制御 : GAを用いた路面形状推定と動力学補償法の実機による評価(G15-1 ロボットの運動解析・制御)(G15 ロボティクス・メカトロニクス部門一般講演)},
 volume = {IV},
 year = {2001}
}