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Research on Design of Hybrid Compliance in Frequency Domain for Humanoid Robot

Research Project

Project/Area Number 13650246
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Dynamics/Control
Research InstitutionThe University of Tokyo

Principal Investigator

NAKAMURA Yoshihiko  The University of Tokyo, Graduated School of Information Science and Technology, Professor, 大学院・情報理工学系研究科, 教授 (20159073)

Co-Investigator(Kenkyū-buntansha) OKADA Masafumi  The University of Tokyo, Graduated School of Information Science and Technology, Lecturer, 大学院・情報理工学系研究科, 講師 (60323523)
Project Period (FY) 2001 – 2002
Project Status Completed (Fiscal Year 2002)
Budget Amount *help
¥3,300,000 (Direct Cost: ¥3,300,000)
Fiscal Year 2002: ¥800,000 (Direct Cost: ¥800,000)
Fiscal Year 2001: ¥2,500,000 (Direct Cost: ¥2,500,000)
KeywordsHybrid Compliance / H_∞ Control / Skill of Compliance / Humanoid robot / Active Compliance / Passive Compliance / Control of Kinetic Energy / Robotics / H∞制御 / ヒューマノイド・ロボット / コンプライアンス制御 / モーションプランニング / システム同定
Research Abstract

For the improvement of the mobile performance and the safety of humanoid robots that share the environment with human, use of hardware characteristic of elasticity is effective. However it is difficult to represent the relationship between task execution and softness. In this paper, we represent the required characteristic of elasticity as dynamic compliance in frequency domain and realize it by active compliance (controlled compliance) using H_∞ control theory and passive compliance using mechanical compliant member. This result causes the design concept of the compliance characteristic and systematic design method of compliance controller. On the other hand, by the effective use of compliance, the humanoid robots have special mobile performance such that by releasing the kinetic energy that is accumulated in compliant members, it obtains the higher power than using only electrical actuators. In this paper, we proposed the design method of 'Skill of Compliance' by controlling charging and discharging of the kinetic energy in compliant members and showed design method of reference trajectory for the skill of compliance.

Report

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

    (21 results)

All Other

All Publications (21 results)

  • [Publications] Masafumi OKADA, Shigeki BAN, Yoshihiko NAKAMURA: "Skill of Compliance with Controlled Charging/Discharging of Kinetic Energy"Proc. of IEEE International Conference on Robotics and Automation. 2455-2460 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 岡田 昌史, 中村 仁彦, 星野 慎一郎: "周波数特性の上限・下限を与えるハイブリッドコンプライアンスH∞設計法-ヒューマノイド・肩部コンプライアンスの整形と制御-"日本ロボット学会誌. Vol.19,No.8. 974-982 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 伴茂樹, 岡田昌史, 中村仁彦: "エネルギーの蓄積・放出の制御による力学的技量の実現"日本機械学会ロボティクス・メカトロニクス講演会'02. (CD-ROM). 1A1-I11

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 門根秀樹, 岡田昌史, 中村仁彦: "非線形力学系の同期を用いたロボットの運動制御"日本機械学会ロボティクス・メカトロニクス講演会'02. (CD-ROM). 2A1-L04 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 伴 茂樹, 岡田昌史, 中村仁彦: "エネルギーの蓄積・開放を伴う力学的技量の実現"第19回日本ロボット学会学術講演会. (CD-ROM). 3I25 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 伴 茂樹, 岡田 昌史, 中村 仁彦: "ヒューマノイドの力学的技量:エネルギの蓄積/放出の制御"日本機械学会ロボティクス・メカトロニクス講演会'01. (CD-ROM). 2P1-G6 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Masafumi OKADA, Yoshihiko NAKAMURA, Shigeki BAN: "Lecture Notes in Control and Information Sciences, D. Rus and S. Singh (Eds.),ExperimentalRobotics VII"Springer. 31-40 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Masafumi OKADA, Shigeki BAN and Yoshihiko NAKAMUKA: "Skill of Compliance with Controlled Charging / Discharging of Kinetic Energy"Proc. of IEEE International Conference on Robotics and Automation. 2455-2460 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Masafumi OKADA, Yoshihiko NAKAMURA and Shinichiro HOSHINO: "H_∞ Design of Hybrid Compliance using Upper/Lower Bound in the Frequency Domain -Shaping and Control of Dynamic Compliance of Humanoid Shoulder Mechanisms -"Journal of the Robotics Society of Japan. 19, No. 8. 974-982 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Shigeki BAN, Masafumi OKADA and Yoshihiko NAKAMURA: "Skill of Compliance via Contorl of Charging/Discharging of Kinetic Energy"Proc. of 2002 JSME Conference on Robotics and Mechatoronics. 1A1-I11(CD-ROM). (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Hideki KADONE, Masafumi OKADA and Yoshihiko NAKAMURA: "Robot motion control using synchronization of nonlinear dynamical systems"Proc. of 2002 JSME Conference on Robotics and Mechatoronics. 2A1-L04(CD-ROM). (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Shigeki BAN, Masafumi OKADA and Yoshihiko NAKAMURA: "Skill of Compliance with Charging / Discharging of Energy"Proc. of the 19^<th> Annual Conference of the Robotics Society of Japan. 3I25(CD-ROM). (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Shigeki BAN, Masafumi OKADA and Yoshihiko NAKAMURA: "Skill of Compliance for Humanoid Robots : Charging/Discharging Control of Kinetic Energy"Proc. of 2001 JSME Conference on Robotics and Mechatoronics. 2P1-G6(CD-ROM). (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Masafumi OKADA, Yoshihiko NAKAMURA and Shigeki BAN , eds. by D. Rus and S. Singh: "Design of Programmable Passive Compliance for Humanoid Shoulder - Towards Skill of Compliance of Humanoid Robots - Lecture Notes in Control and Information Sciences, Experimental Robotics VII"Springer. 31-40 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Masafumi OKADA, Shigeki BAN, Yoshihiko NAKAMURA: "Skill of Compliance with Controlled Charging/Discharging of Kinetic Energy"Proc. of IEEE International Conference on Robotics and Automation. 2455-2460 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] 伴茂樹, 岡田昌史, 中村仁彦: "エネルギーの蓄積・放出の制御による力学的技量の実現"日本機械学会ロボティクス・メカトロニクス講演会'02. (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] 門根秀樹, 岡田昌史, 中村仁彦: "非線形力学系の同期を用いたロボットの運動制御"日本機械学会ロボティクス・メカトロニクス講演会'02. (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] 岡田昌史, 中村仁彦, 星野慎一郎: "周波数特性の上限・下限を与えるハイブリッドコンプライアンスH∞設計法"日本ロボット学会誌. Vol.19, No.8. 974-982 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] Masafumi OKADA, Yoshihiko NAKAMURA, Shigeki BAN: "Design of Programmable Passive Compliance for Humanoid Shoulder- Towards Skill of Compliance of Humanoid Robots"Lecture Notes in Control and Information Sciences, D.Rus and S. Singh (Eds.), Experimental Robotics VII, Springer. 31-40 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] 伴 茂樹, 岡田昌史, 中村仁彦: "エネルギーの蓄積・開放を伴う力学的技量の実現"第19回日本ロボット学会学術講演会予稿集. 3125 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] 伴 茂樹, 岡田昌史, 中村仁彦: "ヒューマノイドの力学的技量:エネルギの蓄積/放出の制御"日本機械学会ロボティクス・メカトロニクス講演会'01. 2P1-G6 (2001)

    • Related Report
      2001 Annual Research Report

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Published: 2001-04-01   Modified: 2016-04-21  

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