4324 4足不整地歩行ロボットの転倒回避のための姿勢制御(G15-5 歩行ロボット,G15 ロボティクス・メカトロニクス)

概要

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This paper proposes control of the posture with the avoidance of the fall of walk robots. With the conventional non-leveling of ground walk robot, It is common that body shakes up and down when this walk. But, It have to walk with stabilizing posture of the body not to injure the fruits which the walk robots harvested. There fore I developed the legs of 2 degree of freedom newly. And I developed 4 pair of walk robots stabilizing posture of the bode using the expansion and contraction. The moment of inertia happens when I take out a leg before. And the position of the center of gravity changes and falls down. By this report, use three axis acceleration sensors, It measure a change of the posture when walk robots fall down. And I drafted a control method of the avoidance of a fall and I evaluated it and tested it.
一般社団法人日本機械学会の論文
2007-09-07