参照軌道による倒立振子の倒立維持制御

概要

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The authors have been studying attitude control of biped walking machines under disturbances. In the present paper, a biped machine during the single-toe-support phase is modelled by an inverted pendulum constrained to the base by friction at a point. A new method of control of an inverted pendulum for maintaining the state of inversion is proposed, in which a control link with a mass attached to the inverted pendulum is used. A feedforward control of the control link is introduced which utilizes a database of the reference trajectory. The reference trajectory is determined by the angular velocity at a specific angle of the pendulum. A method of determining the reference trajectory is presented. The results of computer simulations and experiments show the effectiveness of the proposed method.
一般社団法人日本機械学会の論文
2000-03-25