剛性分布制御による環状ロボットの運動生成 Locomotion of Closed Loop Robot Using Stiffness Distribution Control

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This paper proposes a new method of locomotion control named "Stiffness Distribution Control (SDC) " to realize various locomotion of a closed loop robot with mechanical softness on the ground. SDC directly defines a reference stiffness coefficient at each hinge by a SDC string, which represents distribution of stiffness coefficient. This simple method does not need costly calculation at all and thus is suitable for controlling closed loop robots. We build a closed loop robot "BIYOn" with newly designed variable stiffness hinges. SDC is experimented on the robot and effectiveness of SDC is verified in practice. A two-stage systematic optimization approach for SDC strings, which is composed of "hinge-wise optimization method" and "collective descent optimization method, " is also developed to obtain efficient locomotions. The former is the method focused on functions of each hinge in desired locomotion, and the latter is to optimize the solutions based on local solutions ontained in the first stage. This approach does not require a large amount of computation to get global optimal SDC strings. By this approach, we succeed in obtaining a fast and smooth rolling motion and a sudden stopping motion.

収録刊行物

  • 日本ロボット学会誌 = Journal of Robotics Society of Japan  

    日本ロボット学会誌 = Journal of Robotics Society of Japan 25(2), 231-240, 2007-03-01 

    The Robotics Society of Japan

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各種コード

  • NII論文ID(NAID)
    10018869572
  • NII書誌ID(NCID)
    AN00141189
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    02891824
  • NDL 記事登録ID
    8747919
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1325
  • データ提供元
    CJP書誌  CJP引用  NDL  J-STAGE 
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