ＺＭＰを安定規範とした２足歩行ロボットの上体補償運動の学習制御

• 李 清華

  早稲田大学大学院

• 高西 淳夫

  早稲田大学理工学部

• 加藤 一郎

  早稲田大学理工学部

書誌事項

タイトル別名

• Learning Control of Compensative Trunk Motion for Biped Walking Robot based on ZMP Stability Criterion.

抄録

The authors have been using the ZMP (Zero Moment Point) as a criterion to distinguish the stability of walking for a biped walking robot that has a trunk. In this paper, the authors propose a learning control algorithm of the compensative trunk motion that makes the actual ZMP get closer to the desired ZMP. The convergency of the algorithm is confirmed by computer simulation. By the learning experiments with the biped robot, the reappearance of the measured ZMP is shown and the convergency of the algorithm is confirmed. The change of the convergence rate with the change of the weight coefficient multiplied to the errors between the measured ZMP and the disired ZMP is confirmed by the simulation and the experiments. And also the reasons are discussed.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 11 (4), 557-563, 1993

  一般社団法人 日本ロボット学会

キーワード

• Biped walking robot
• ZMP
• Learning control

詳細情報

• CRID: 1390001204726307328
• NII論文ID: 10006717473
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.11.557
• ISSN: 18847145
• ISSN: 02891824
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可