2足歩行ロボットの最適軌道計画解 : 第3報,不等式拘束条件を満たす上体質量付加モデルの解析と実験(<小特集>運動と振動の制御の21世紀への新展開)

概要

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In research of biped walking robot, energy-efficiency is an important issue. We have proposed an optimal trajectory planning method based on a function approximation method, and applied it for 2D biped walking model. With this method, we obtained the solution of minimal square integration value of the input torque under equality state constraint condition. In this study we further considered inequality state constraint to restrict the range of joint angle, and applied it for the model with upper body mass. In addition, we conducted the experiment to verify the effectiveness of this method. We realized the stable walking of 0.6s period, 0.3m/s. Finally, we evaluated the energy-efficiency by specific cost.
2006-09-25