2A1-A10 身体剛性の動的改変による安定な四脚歩容遷移の実現(移動知)

概要

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Today's robots are controlled typically by "highly precise control algorithms": their joint angle trajectories are determined accurately at any time with vast amount of computation. This approach, however, causes serious problems, particularly in terms of energy efficiency and adaptability. On the other hand, recently, another extreme approach has been gaining a lot of attention. A good instantiation is the passive dynamic walker. One of the crucial points is that this approach has shed light on the fact that control system is not everything. More specifically, it is of highly importance to exploit intrinsic dynamics of a robot's body, leading to "cheap" control algorithms. In light of these facts, this paper intensively deals with how the body dynamics influences the behavior in the quadruped trasition as a practical example.
一般社団法人日本機械学会の論文
2007-05-11