人間型二足歩行ロボット「源兵衛」の「ナンバ歩き」から「超高速ナンバ走り」への展開

元データ 埼玉工業大学

概要

It seems that the emergence of intellectuality in an autonomous robot exists in the dexterity of human or creatures as complex systems. The previous paper proposed the research style and the development procedure along this approach for realization of a real intellectual 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 realized the simple self-sustained humanlike robust walking & running NANBA of humanoid biped robot GENBE based on distributed control of physical body in a martial art utilizing instability without ZMP (Zero Moment Point) control, which uses only small active power with simple chaotic limit cycle utilizing instability, further developing into autonomous walking & running. Instability makes the natural movement. We also investigated the approach to the emergence of the intellectuality of an autonomous robot for breaking through the problems of the conventional intelligent robot with SMPA (Sense-Model-Plan-Act) framework in the real world. It is based on the development of human's dexterity or proficient skills with Subsumption Architecture (SA) by learning in the real world. This paper showed the development of NANBA Run of Humanoid Biped Robot GENBE by using small-soles toward Super-High Speed NANBA Dash making full use of instability as a source of driving force based on the distributed control of physical body in a martial art.

著者

川副 嘉彦 埼玉工業大学工学部
川副 嘉彦 埼玉工業大学工学部ヒューマンロボット学科
川副 嘉彦 埼玉工業大学工学部ヒューマン・ロボット学科
川副 嘉彦 埼玉工業大学 工学部ヒューマン・ロボット学科
川副 嘉彦 埼玉工業大学 大学院工学系研究科 システム工学専攻
川副 嘉彦 埼玉工業大学

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