1A2-Q04 油圧駆動型6脚ロボットCOMET-IVの高速歩行制御(極限作業ロボット)

概要

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In this paper, high speed walking of Hexapod robot is taken up. This robot has a design specification about walking speed. That is 1 km/h walking. Limit capability of the hardware was measured to design new foot trajectory for high speed walking. With the spec in mind, new foot trajectory was designed. Parameters in this trajectory were decided in the range where limit was not exceeded. As a result, it became clear that the maximum walking speed for hardware is 0.45 km/h. To walk at 1 km/h, improvement of hardware is necessary. Partial Model Matching Techniques was applied to design PID controller. But the derivation gain became minus. The reason was the model parameter. From this result, it was unveiled that Partial Model Matching Techniques was not able to be applied to this model.
一般社団法人日本機械学会の論文
2011-05-26