コンプライアンスを用いた二足歩行ロボットの運動制御

• 川路 茂保

  熊本大

• 小笠原 健一

  熊本大

• 飯盛 淳二

  熊本大

書誌事項

タイトル別名

• Biped Locomotion Control with Compliance.
• コンプライアンス オ モチイタ ニソク ホコウ ロボット ノ ウンドウ セイギ

抄録

Realization of stable walking motion of biped locomotive robot is one of difficult control problems, but it is very interesting both theoretically and practically from the view point of motion control. The authors have already reported that the locomotion rhythm plays an important role in walking motions, and confirmed experimentally that the control method based on the locomotion rhythm is effective. But, many uncertainties, e. g., the changes of robot dynamics and the interaction between the robot and the floor, may make the locomotion rhythm irregular.<br>In this paper, we introduce the compliance into the control system in order to modify the original reference locomotion rhythm for stable walking under the existence of the uncertainties. Concretely a compliance control system for the contact leg is designed to modify the rhythm by changing the posture of the leg corresponding to the force acting from the body so that the robot may keep the equilibrium state dynamically. Finally the simulation results are given to illustrate the effectiveness of the proposed compliance control system.

収録刊行物

• 電気学会論文誌Ｄ（産業応用部門誌）

  電気学会論文誌Ｄ（産業応用部門誌） 116 (1), 11-18, 1996

  一般社団法人 電気学会

キーワード

• 二足歩行ロボット
• コンプライアンス制御
• 安定歩行
• 歩行リズム

詳細情報

• CRID: 1390001204656451712
• NII論文ID: 10001787580
• NII書誌ID: AN10012320
• DOI: 10.1541/ieejias.116.11
• ISSN: 13488163
• ISSN: 09136339
• NDL書誌ID: 3917381
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I3917381
• Web Site: http://www.jstage.jst.go.jp/article/ieejias1987/116/1/116_1_11/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可