４足歩行機械の制御システム

• 広瀬 茂男

  東京工業大学工学部

• 福田 靖

  (株) 東芝

• 菊池 秀和

  (株) 旭化成工業

書誌事項

タイトル別名

• The gait control system of the quadruped walking vehicle.

抄録

Walking vehicle has potential capability to be developed into off-road vehicle with high mobility and adaptivity by using the coordination control of its multi-degrees of freedom. There have been several discussions on the gait control of the walking vehicle. However the overall discussion of the gait control system and discussion on the subsystem in relation to all has not been executed so far.<BR>The paper thus try to discuss this problem by setting the quadruped walking vehicle, which the authors have been developing. As the direct objective of the study. First of all the premises for discussion are established. The hierarchical structure of the total control system consisting of three level. i.e. level A, B, C, are then clarified. The control algorithm of each level especially on level B, C are elaborated. As to level B, the gait control in xy coordinates, that in z coordinates, and trajectory control of the legs are discussed. As to level C the control algorithm of the reflex motion regulation are discussed. Finally these discussions are verified by the walking experiments of the constructed walking vehicle model TITAN III. The joystick control of omnidirectional motion., or adaptive locomotion over irregular steps are successfully demonstrated.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 3 (4), 304-324, 1985

  一般社団法人 日本ロボット学会

キーワード

• Mobile robot
• Quadruped walking vehicle
• Gait control
• Reflex motion control

詳細情報

• CRID: 1390001204726463872
• NII論文ID: 130000849472
• DOI: 10.7210/jrsj.3.304
• 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