1A1-E03 FPGAを搭載した恐竜2足ロボットの開発と制御(脚式移動ロボット・メカトロニクス)

概要

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Several types of running robots have already been studied and developed, In order to create a three-dimensional running robot, we study a control method called Variable Constraint Control which can realize various gaits. The motion pattern for the dinosaur-type robot is easily switched by changing the parameters of a differential equation. In recent years, FPGA (Field Programmable Gate Array) is used for control of several systems. FPGA can implement CPU, memory, digital filter, signal generator, and comparator all-in-one package. In this paper, we try realization of implementation control system based on FPGA in consider of a control method for the dinosaur type robot.
一般社団法人日本機械学会の論文
2007-05-11