２足歩行ロボットＷＬ‐１０ＲＤによる動歩行の実現

• 高西 淳夫

  早稲田大学理工学部

• 石田 昌巳

  早稲田大学理工学部

• 山崎 芳昭

  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

• The realization of dynamic walking by the biped walking robot WL-10RD.

抄録

The purpose of this study is to accomplish“Dynamic Walking”by a biped walking robot WL-10-RD on a disturbance-free flat floor. Generally, one walking cycle is divided into two phases, a“Single Support Phase”and a“Change Over Phase”.We consider that“Dynamic Walking”is defined as walking to which“Systen Dynamics”is applied on“Both Phases”.<BR>We propose a dynamic walking control method as follows: walking in single support phase is rea-lized by“Program Control”using a“Preset Walking Pattern”and that in change over phase is achieved by“Sequence control”changing“Preset Torque and Mechanical Impedance Values”according to the conditions of this phase.<BR>Practically, for the single support phase, the“Preset Walking Pattern”is designed so that the trajectory of“Zero Moment Point”on the floor plane, which is computed using“3-Dimensional Dynamic Simulation”, will be exirt inside the support sole's stable area. For the change over phase, which is divided into 4 phases, adequate values of torque and mechanical impedance on both ankles for each sub-phase are defined so that the“Center of Gravity”will chage support legs and will suppress an impact caused by floor contact.<BR>As a result of experiments, complete dynamic walking was realized by a walking robot WL-10RD. The walking time is about 1.5 second with 40cm step.

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), 325-336, 1985

  一般社団法人 日本ロボット学会

キーワード

• Biped locomotion
• Dynamic walking
• Application of control
• Torque control
• System dynamics

詳細情報

• CRID: 1390001204726672000
• NII論文ID: 130000849473
• DOI: 10.7210/jrsj.3.325
• 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