反射運動による2足歩行機械の外乱補償

概要

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A control system of a biped walking machine with consideration of compensation of external disturbance has been proposed which utilizes the concept of reflex control of animal. A walking machine has been modeled as a sequential machine, and the motions of the walking machine are composed of a series of single reflex motions. A hierarchical control system with three level controllers has been constructed. As disturbances, two types of external forces have been considered, which are "impulsive" force with large magnitude and short action time and "continuous" force with small magnitude and long action time. State variables of a walking machine for rapid and reliable sensing of each disturbance have been investigated and the thresholds of their values used as the triggers for changing the gaits from periodic gait to disturbance compensation gait have been clarified. Concepts of compensation and algorithms of determining reflex motions for disturbance compensation have been presented. A control system for an experimental biped walking machine whose mass is 18 kg, total height is 0.66 m, step length is 0.25 m and walking cycle is 133 steps/min has been constructed and tested. The walking machine has successfully realized avoidance of tumbling and/or returning to periodic gait by means of the proposed control system.
一般社団法人日本機械学会の論文
1999-10-25