10404 最適サーボ系を用いた油圧アクチュエータのむだ時間を含む6足歩行ロボットの姿勢制御(メカトロニクス(1))

概要

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In this paper, We proposed a method of the attitude control of six-legged robot in consideration of time-delay of hydraulic actuator by optimal servo control system. The model, which the inputs are the control input of the thigh link and the outputs are the height of the body, pitch and roll angles, is made. In the case of using hydraulic actuator of the third order delay system, the proposed model becomes uncontrolable. So, the third order delay system is approximated by the second order delay system. This system is controlled by optimal servo system. The validity of the proposed method is verified by comparing with the case not considering the time delay of hydraulic actuator.
一般社団法人日本機械学会の論文
2005-03-17