B23 不安定を利用する非線形制御による人間型二足ロボット「源兵衛」の俊敏自在の身体操法(バランス・他)

元データ 2006-11-08 一般社団法人日本機械学会

概要

There is no robot around us in our society at the current stage and also there will be no robot in the future if we define a robot as an autonomous machine working in the arena of offices, homes, and disaster sites, etc. outside the factories and continue the present conventional research and development (R & D) style in robot projects. It seems that the emergence of intellectuality in an autonomous robot exists in the dexterity of human or creatures as complex systems. This paper proposed the approach for realization of a real intelligent robot. We call this Human-Robotics, where robots and engineers should learn and develop in collaboration with each other in the real world on the basis of the dexterity of nature, life and human. We showed in this paper as the case studies the humanlike robust NANBA walking & running & instantaneous turn of humanoid biped robot GENBE based on distributed control of physical body in a martial art, which uses only small active power with simple chaotic limit cycle utilizing instability. Furthermore, the simple autonomous shock avoidance during falling down and instantaneous rising of biped robot GENBE based on distributed control of physical body in a martial art utilizing instability was shown. Instability makes the natural movement and can be applied to walking of a physically handicapped person, rehabilitation, sports, and so on.

著者

川副 嘉彦 埼玉工業大学工学部
川副 嘉彦 埼玉工大

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