212 不整地用 6 足歩行ロボットのサスペンション制御

概要

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In this study, we propose a contorl method based on the virtual suspension model in order to keep the posture stability of body when robot walking on terrain. Firstly, we built a CAD model of a six-legged walking robot for studying rough terrain walking. Nextly, we designed a vibration system with one degree of freedom, which has virtual spring and damper, in the direction of the vertical, the pitch angle, and the roll angle of body respectively. And then, considering of active control input and disturbances from the collision control that decrease tremble of body using sliding mode control can be realized. Moreover, the efficiency of this sliding mode control based on the virtual suspension model is shown by 3D CAD simulation of walking on terrain with obstacles.
一般社団法人日本機械学会の論文
2003-10-30