Disturbance Compensating Control of a Biped Walking Machine Based on Reflex Motions
スポンサーリンク
概要
- 論文の詳細を見る
A control system that utilizes the concept of reflex control in animals is proposed for a biped walking machine with consideration of compensation of external disturbances. A walking machine was modeled as a sequential machine, and a series of single-reflex motions was synthesized for it. A hierarchical three-level control system was constructed. As disturbances, two types of external forces were considered : "impulsive" force with a large magnitude and short action-time and "continuous" force with a small magnitude and long action time. Appropriate state variables for rapid and reliable sensing of each disturbance were investigated and the thresholds of their values used as the triggers for changing the gait from a periodic gait to a disturbance compensation one were determined. Motions of disturbance compensation gaits were determined by combining some single-reflex motions. A control system for an experimental biped walking machine whose mass is 18kg, total height is 0.66m, step length is 0.25m and walking cycle is 133 steps/min was constructed and tested. The proposed control system enabled the walking machine to successfully avoid tumbling when it was subjected to the two external forces and return to a periodic gait.
- 一般社団法人日本機械学会の論文
- 2001-09-15
著者
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Takeda Yukio
Department of Mechanical Engineering, Tokyo Institute of Technology
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Funabashi Hiroaki
Department of Mechanical Engineering, Tokyo Institute of Technology
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Itoh Shigenari
Chubu Electric Power Company
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HIGUCHI Masaru
Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology
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Funabashi Hiroaki
Department Of Mechanical Engineering Tokyo Institute Of Technology
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Takeda Yukio
Department Of Mechanical Engineering Tokyo Institute Of Technology
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Higuchi Masaru
Department Of Mechanical Sciences And Engineering Tokyo Institute Of Technology
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HIGUCHI Masaru
Department of Innovative Systems Engineering, Nippon Institute of Technology
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