3604 氷雪を走る人間型二足ロボット「源兵衛」のロバスト性のメカニズム(G15-1 ロボティクス・メカトロニクス(1) 歩行ロボット・アクロボット,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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The previous paper proposed the research style and the development procedure 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 and instantaneous turn. Instability makes the natural movement. We also investigated the approach for breaking through the problems of the conventional robot with SMPA (Sense- Model- Plan- Act) framework in the real world, developing to the simple autonomous shock avoidance during falling down and instantaneous rising. This paper showed experimentally the mechanism of robustness of humanoid biped robot GENBE who walks and runs everywher even on the ice and snow in the nature.
社団法人日本機械学会の論文
2008-08-02