303 多自由度ロボットのための分散コントローラの開発 : 耐故障性を考慮した六脚椅子型歩行ロボットの歩容生成

概要

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The purpose in this study is developing an effective autonomous distributed Controller which is applied to practical robot with multiple D.O.F. Compared with the centralized controller, there are some advantages in an autonomous distributed controller. These are flexibility over change of unexpected environment, fault tolerance when some of the subsystems are suddenly broken down, expendability of controller, and so on. Especially fault tolerance is the most necessary function for the controller of robot. We have been developing an autonomous distributed controller "Networked Smart Actuator"(NSA), so we will apply NSA to Six-Legged Walking Chair Robot, which is developed in our laboratory. In this study, We aim to fault tolerant gait control, assuming that one leg of the robot is suddenly break down during hexapod walking. With the cooperation of controllers of each leg, movement of the broken leg is compensated. Therefore, the robot is able to continue stable gait.
一般社団法人日本機械学会の論文
2003-03-13