T-2-3-3 Neuro-Based Position and Force Hybrid Control of Six-Legged Walking Robot
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概要
- 論文の詳細を見る
The present paper proposes a six-legged walking robot having two manipulators which offers added stability, mobility, and functionality. In this research, neuro-based position and force hybrid motion control for walking on irregular terrain is studied. Comparison with conventional position and force hybrid control demonstrates the high efficiency oth the proposed neuro-based position and force hybrid control system. The neuro-based position and force hybrid control system includes six-axis force sensors in each leg, which provide not only control in the vertical direction; i. e., in the direction of gravity, but also control in the walking direction. This platform has proven to be very useful on irregular terrain including obstacles of random height and random position. Consequently, autonomous stable walking in an unknown environment has been realized through the experiments.
- 一般社団法人日本機械学会の論文
著者
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NONAMI Kenzo
Department of Mechanical Engineering, Chiba University
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Nonami Kenzo
Department Of Electronics And Mechanical Engineering Chiba University
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Huang Qingjiu
Division Of Artificial System Science Graduate School Of Science And Technology Chiba University
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Nonami Kenzo
Department Of Electronics And Mechanical Engineering Faculty Of Engineers Chiba University
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Nonami Kenzo
Department For Electronics And Mechanical Engineering University Of Chiba
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