2A1-D13 差分方程式拘束を伴う離散時間非ホロノミック系を用いた2足歩行計画

概要

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New gait planning by using nonholonomic model with difference-equation constraints is proposed for biped robot walking. The model of pivoting telescopic segment is employed as the kinematic foot stamp motion of bipedal. The repetitive and discontinuous constraints of pivoting, expanding and contracting make the set of walking trajectory. The k-step reachable region is denned as the set of the k-th state which the system can reach from the initial state, and the motion planning is solved by using the Jacobian matrix of the state with regard to the input series. The difference-equation constraints can be discussed as a digital control of continuous-time nonholonomic systems. The gait planning is modified based on the limiting condition for the real humanoid robot HRP-2 so that it is implemented.
一般社団法人日本機械学会の論文
2009-05-25