2A2-D02 事象駆動型モデルを用いた二足ロボットの周期運動制御(脚移動ロボット)

概要

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This paper proposes a modeling method for periodic motion of bipedal robots using an event-driven model. Conventional models that are widely employed in the trajectory planning of bipedal locomotion have one shortcoming: namely, the transition of robot's dynamics which is seen in locomotion is not considered. This makes the design of a trajectory tracking controller, which is responsible of absorbing the difference between the model and the actual robot's dynamics, quite complicated. Motivated by this background, a new model which reduces complexity of periodic motion control system is proposed. To capture both the discrete and continuous features of bipedal periodic motion, the model takes the form of event-driven model. Supervisory control of the model is adapted to the control system, and then it is utilized for stepping motion control and demonstorates the value of the model.
一般社団法人日本機械学会の論文
2011-05-26