0208 古(いにしえ)の身体操法に学ぶ二足歩行ロボット「源兵衛」の自在な動きの発現 : 不安定を利用する階段の登り降り(J19-1 人間・ロボットの動作解析,J19 ヒューマンダイナミクス)

概要

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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 machine working in the arena of offices, homes, and disaster sites, etc. outside the factories and also continue the present conventional research and development (R & D) style in robot projects. We proposed the concept of 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 with Subsumption Architecture (SA) in the previous paper. We showed as the case studies the simple self-sustained humanlike robust walking & running & instantaneous turn 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 shock avoidance during falling down owing to being pushed from backside and instantaneous rising. Instability makes the natural movement. We also showed the case study of an autonomous robot without SMPA (Sense-Model-Plan-Act) framework. In this paper, we realized the JIZAI movement of humanoid biped robot based on the distributed control of physical body in a martial art going up and down the stairs with instability.
社団法人日本機械学会の論文
2007-09-07