環境変動を考慮した3次元2足歩行ロボットの可変コンプライアンス制御 Variable Compliance Control for 3 Dimensional Biped Robot considering Environmental Fluctuations

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The relation between the robot with the environment is very important issue for the biped robot's control because the collision with the environment occurs repeatedly during the walking motion. Generally, the position control is used for the biped robot's control. But the position control can not cope with the collision force and the small environmental variations which the robot can not sens by the position sensors (visual sensor, ultrasonic sensors, etc.). In order to realize the stable contact with the environment, the robot must have a compliance by itself.<br>So in this paper, we propose a compliance control strategy for a three dimensional biped robot with variable compliance gain. The goal of this control system is to realize the smooth state transition from the single support phase to the double support phase. The value of this variable compliance gain increases with the interaction force at the bottom of the foot. This variable compliance gain will maintain the performance of the control system in the free motion as well as contact conditions and plays an important role in adusting the stiffness of the biped robot system. The feasibility of the proposed method was confirmed by several numerical and experimental results.

収録刊行物

  • 電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society  

    電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society 119(12), 1507-1514, 1999-12-01 

    The Institute of Electrical Engineers of Japan

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各種コード

  • NII論文ID(NAID)
    10004297659
  • NII書誌ID(NCID)
    AN10012320
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    09136339
  • NDL 記事登録ID
    4924122
  • NDL 雑誌分類
    ZN31(科学技術--電気工学・電気機械工業)
  • NDL 請求記号
    Z16-1608
  • データ提供元
    CJP書誌  CJP引用  NDL  J-STAGE 
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