Dynamic control of biped locomotion robot using optimal regulator.
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概要
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For moving in indoor space, it is generally recognized the biped locomotion is suitable. This paper proposes a hierarchical control strategy for the lower level where the position control or the force control at each joint is implemented. In the upper level control, the robot motion is divided into a sagittal plane and a lateral plane. We applied the optimal control algorithm to the motion control in the lateral plane in order to improve the robustness of the control system. The effects of these control schemes are shown by the experiments using the new walking robot BLR-G 1 and the parallel calculation system. BLR-G 1 has 9 degrees of freedom and equips the foot-pressure-sensors and a rate gyroscope. Complete dynamic walking is realized, in which the cycle for each step is about 1.0 second.
- 一般社団法人 日本機械学会の論文
一般社団法人 日本機械学会 | 論文
- PREFACE
- Hybrid Vibration Suppression of Flexible Structures Using Piezoelectric Elements and Analog Circuits
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