1017 繰り返し順変換を用いたロボットの立脚動作生成とロバスト性(GS6 制御・エネルギー,一般セッション:6 制御・エネルギー)

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This paper proposes an algorithm to generate trajectories for lift-up motion of a stance robot with a luggage. Our algorithm focuses on three topics. The first topic is that the robot stands up as easily as possible with a luggage and does not tumble down. The zero moment point (ZMP) of the robot changes at every moment of the stand-up process. The robot must ascertain whether it will tumble down before attempting to do the next posture, and choose the appropriate posture to avoid falling over. The second topic is that the load on each joint should be as small as possible. We present an algorithm to generate suitable trajectories of the robot standing successfully, based on the results of the torque analysis on the load on each joint. The third topic is that on the basis of this algorithm, we also analyze the robust character of the robot to ascertain the stability at every moment of the stand-up process when some external force acts on the robot. In this article, methods have been tried to evaluate the load torque and the joint angle of each joint in the geometrical limit, find the best algorithm to generate the trajectory of a stand-up motion for a stance robot under different conditions by repeatedly direct kinematics, and evaluate the robust character of the robot in the stand-up process.
2008-03-01