2926 1脚ロボットに対する屈伸動作の安定化制御に関する研究(G10-5 機械力学・計測制御(5) 運動と振動の制御,21世紀地球環境革命の機械工学:人・マイクロナノ・エネルギー・環境)

概要

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This paper reports with respect to the stabilized motion control of a one-legged robot. Two kinds of controls are tried to the virtual inverted pendulum that is supposed through a center of gravity from the first joint. One of the controls is the optimal regulator control, and another is VSS adaptive control. In this experiment, the state of standing on tiptoe is considered to be initial posture. The sine wave-command disturbance is given to the second joint and third joint, and these controls are evaluated by the deviation angle of the pendulum. Finally, the validity of VSS adaptive control is confirmed through the experiment.
社団法人日本機械学会の論文
2008-08-02