2P1-G04 多脚移動ロボットのための階層構造を持つ汎用制御系の研究

• 小櫻 宝

  金沢工大

• 八木 嚴大

  大和エンジニアリング

• 土居 隆宏

  金沢工大

書誌事項

タイトル別名

• 2P1-G04 Hierarchical General Purpose Control System for Multi-leg Robot

抄録

Control of multilegged robots requires usually complex system and many kinds of processing, because they have many DOF and are operated adaptively on complicated environment with sensors. In conventional robot control system, usually this processing had been implemented in one computer. However, considering the maintenance and scalability, it is not desirable to concentrate all processes on a huge single program. In this presentation, we introduce a general-purpose control system with hierarchical structure for multilegged robots. The control system consists of multiple computers connected via LAN. The detail of implemented system with a microcomputer and a PC and experimental results with one/four/six legged robot are shown.

収録刊行物

• ロボティクス・メカトロニクス講演会講演概要集

  ロボティクス・メカトロニクス講演会講演概要集 2015 (0), _2P1-G04_1-_2P1-G04_3, 2015

  一般社団法人 日本機械学会

キーワード

• Multi-legged Robot
• Distributed control
• Hierarchical behavior control

詳細情報

• CRID: 1390282680916796544
• NII論文ID: 110010055745
• DOI: 10.1299/jsmermd.2015._2p1-g04_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2015/0/2015__2P1-G04_1/_pdf
• 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