502 FEMを用いたリンク機構の逆動力学計算による歩行ロボット制御(ロボットと計算力学(1),OS14 ロボットと計算力学)

概要

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This paper describes a solution scheme for inverse dynamics of link mechanisms, which has already been proposed and applied in several inplane motions. In this theory, FEM is used for the discretization of equations of motion. This scheme calculates nodal forces by evaluating equations of motion in a matrix form, and thus information from the entire system can be handled simply, and the torques input to each joint of link mechanisms to achieve required motion are calculated easily. This scheme is suitable to the feed-forward control of closed-loop or continuously link mechanisms, and it may provide good control law. In this report, the proposed scheme is implemented in the transverse walking problem of a robot and the control experiment is also conducted. The results illustrate the potential of the proposed solution scheme for the control of walking motion of robot.
一般社団法人日本機械学会の論文
2006-11-02