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Dynamics Based Control of Humanoid Robot

Research Project

Project/Area Number 13305029
Research Category

Grant-in-Aid for Scientific Research (A)

Allocation TypeSingle-year Grants
Section一般
Research Field Control engineering
Research InstitutionKobe University (2003)
Kyoto University (2001-2002)

Principal Investigator

OSUKA Koichi  Kobe University, Faculty of Engineering, Professor, 工学部, 教授 (50191937)

Co-Investigator(Kenkyū-buntansha) ZHENG Xin-zhi  Advanced Software Technology & Mechatronics Research Institute of Kyoto, Mechatronics Lab., Chief researcher, メカトロニクス研究室, 室長(研究職) (10262966)
辻田 勝吉  京都大学, 工学研究科, 助手 (20252603)
土屋 和雄  京都大学, 工学研究科, 教授 (70227429)
Project Period (FY) 2001 – 2003
Project Status Completed (Fiscal Year 2003)
Budget Amount *help
¥21,710,000 (Direct Cost: ¥16,700,000、Indirect Cost: ¥5,010,000)
Fiscal Year 2003: ¥11,180,000 (Direct Cost: ¥8,600,000、Indirect Cost: ¥2,580,000)
Fiscal Year 2002: ¥10,530,000 (Direct Cost: ¥8,100,000、Indirect Cost: ¥2,430,000)
KeywordsQuasi-passive walking / Delayed feedback control / Poincare map / Continuous type Delayed feedback control / ダイナミクスベースト制御 / 受動的動歩行 / ダイレクトドライブモータ / 二足歩行ロボット / ヒューマノイドロボット
Research Abstract

In this research, we consider the walking control from the following point of view. That is, the essential principle in walking control is a passive dynamic walking. Therefore, we have been researching a Quasi-passive walking by using a quasi-passive walking robot which is set on a slight slope. Concretely speaking, we developed a walking robot whose joint consists of direct-drive motor. The following are the results.
(1)We designed and develop a biped robot PB-I. This robot has two legs and the each leg has tree joints. Direct drive motor is used for the joint actuator.
(2)We obtained a dynamical model of PB-I. And we analyzed the robot as a non-linear dynamical system. Then, we researched a realizability of passive walking of the robot and a stability analysis.
(3)We propose a control law for Quasi-passive walking. At that time, a kind of learning control method was proposed.
(4)We focused on a impact point in walking process, and using a Poincare map, we tried to understand the structure of the map.
(5)We proposed a kind of continuous type delayed feedback control.

Report

(4 results)
  • 2003 Annual Research Report   Final Research Report Summary
  • 2002 Annual Research Report
  • 2001 Annual Research Report
  • Research Products

    (8 results)

All Other

All Publications (8 results)

  • [Publications] 杉本靖博: "受動的歩行の安定性に関する一考察-ポアンカレマップの構造解釈からのアプローチ--"第9回ロボティクスシンポジア論文集. 192-197 (2004)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] 大須賀公一: "遅延フィードバック制御に基づく準受動的歩行の安定化制御"日本ロボット学会誌. 22・2. 193-199 (2004)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] Y.Sugimoto: "Consideration of a stability of passive walking-Approach form a structure understanding of Poincare Ma"Proc.of Robotics Symposia. 192-197 (2004)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] K.Osuka: "Stabilization of Quasi-Passive Walking Robot via Delaed-Feedback-Control"Trans.of Japan Robotics Society. 22・2. 193-199 (2004)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2003 Final Research Report Summary
  • [Publications] 杉本靖博: "受動的歩行の安定性に関する一考察-ポアンカレマップの構造解釈からのアプローチ--"第9回ロボティクスシンポジア論文集. 192-197 (2004)

    • Related Report
      2003 Annual Research Report
  • [Publications] 大須賀公一: "遅延フィードバック制御に基づく準受動的歩行の安定化制御"日本ロボット学会誌. 22・2(印刷中). (2004)

    • Related Report
      2003 Annual Research Report
  • [Publications] Y.Sugimoto, K.Osuka: "Motion Generate and Control of Quasi-Passsive-Dynamic-Walking based on the concept of DFC"Proc. of 3rd International Symposium on Adaptive motion of Animals and Machines. (CD). (2003)

    • Related Report
      2002 Annual Research Report
  • [Publications] 織田豊生, 大須賀公一: "アクティブ義足の実現を指向した二足歩行ロボットの参照軌道更新型足関節制御"日本機械学会ロボティクスメカトロニクス講演会(発表予定). (2003)

    • Related Report
      2002 Annual Research Report

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Published: 2002-04-01   Modified: 2016-04-21  

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