314 可変重力環境下の受動歩行を規範としたコンパス型2足ロボットの歩行速度制御

概要

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Recently, biped robots are flourished all over the world. Japan, as a leading country of biped robots, plans to send them into the moon. The project is magnificent but there are lots of problems to operate biped robots. One of the biggest problems is the difference of gravity between the moon and the earth. Therefore, it is necessary to develop control method concerning the gravity. This paper proposes a novel control method to generate gait under variable gravity. Previous research show a method to generate gait based on passive dynamic walking. Proposed method expands the previous study and enables to control robots' step length and velocity on any slope angle under variable gravity. The concept of the proposed method is to generate gait based on natural relativities of passive dynamic walking: the step length depends on the slope angle and the velocity depends on the gravity. To generate control inputs, we find the passive dynamic walking that corresponds to the desired gait in step length and velocity. We apply this referential passive dynamic walking to previous method and then we get control inputs. With proposed method, it is shown that simulation results under variable gravity conform to the desired gait.
2011-09-05