| Budget Amount *help |
¥1,500,000 (Direct Cost: ¥1,500,000)
Fiscal Year 1990: ¥300,000 (Direct Cost: ¥300,000)
Fiscal Year 1989: ¥1,200,000 (Direct Cost: ¥1,200,000)
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| Research Abstract |
This study aims at realizing 3D smooth dynamic quadruped locomotion in a robot. The smooth 3D dynamic walking can be realized by using the information of the posture angle and force, and moreover by considering the robot dynamics. In this study, a hierarchical control in which many sensor informations are utilized is proposed, and is confirmed by experiments using a quadruped robot.
1. A trot gait in which a diagonal pair (e. g. right foreleg and left rearleg) forms the supporting legs and there is a short period of three-legs-support phase , was treated. For the high speed locomotion, it is desirable that the ratio of the two-legs-support phase is large. However, the robot system in this phase shows the unstable behavior about the diagonal line which is passing through the two supporting point. In this phase, a low order model which we have been proposed was utilized in the upper level of the hierarchical control structure.
2. A walking simulator of the quadruped robot system was developed. The suitable compliance for each walking phase was designed by using this simulator.
3. The foot pressure sensor and the joint torque sensor were developed which were installed in the robot system. The proposed copliance control is realized by using these sensor informations. During the three-legs-support phase, the slippage of the tiptoe often happens if high gain position feedback is applied at all joints. Therefore, the compliance control was applied to this phase. The walking experiments with walking speed of 0.6m/s were conducted by using the above method.
4. The change of the walking direction during the dynamic walking can be realized experimentally.
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