周波数成形最適トラッキング制御による四足歩行ロボットの動的歩行

概要

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This paper deals with the quasi-dynamic walk of a quadruped locomotion robot using a frequency-shaped optimal tracking control method. In the case of control for a locomotion robot, high feedback (FB) gain should be used in order to compensate the force and the moment from the body and the reaction force from the ground. But if high FB gain is used, high-frequency vibration occurs because of the backlash of the gear. Frequency-shaped optimal control is a control method to improve the robustness against disturbances of this kind. Frequency-shaped optimal tracking control is used to extend frequency-shaped optimal control to a servo system like the trajectory control of the robot. First, we show the design method of frequency-shaped optimal tracking control. Next, decentralized control is realized to apply frequency-shape optimal tracking control. Finally, frequency-shaped optimal tracking control is compared with optimal tracking control from the point of view of simulations and experiments.
一般社団法人日本機械学会の論文
1995-09-25