階層形分散システムを用いた六脚椅子形歩行ロボットによる環境適応歩容(機械力学,計測,自動制御)

概要

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This paper proposes the method that a hexapod robot is traversed irregular terrain such as the stairs or slopes using the hierarchical decentralized system. A higher subsystem, analizes the stability while walking and instructs lower subsystems, is made to participate in the decentralized system of which a lower subsystem that one leg is controlled object. So the robot was achieved walking that adjusted to an environmental change in cooperated operation between subsystems. A conventional "Zero Moment Point (ZMP)" is a useful criterion of stability, but it does not evaluate the degree of stability. Therefore this paper proposes a "Acceleration Stability Margin". Amount of acceleration that ZMP is necessary for limit in stability area to move. Then Six legged Walking Chair Robot achieved walking on irregular terrain that improved a movability while keeping the lowest stability margin by evaluating Acceleration Stability Margin at each environmental change.
一般社団法人日本機械学会の論文
2006-08-25