| Budget Amount *help |
¥3,510,000 (Direct Cost: ¥2,700,000、Indirect Cost: ¥810,000)
Fiscal Year 2017: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2016: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2015: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
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| Outline of Final Research Achievements |
Leg/wheel mobile robots are capable of fast and adaptive locomotion on rough and complex terrain. But their controller CPU is generally slow because of reliability and robustness.
In this study, we applied model predictive control (MPC) which is known as a real-time optimal control incorporating various constraints. To reduce its computational cost, we partitioned the robot model into soft-constrained legs and applied a tailored MPC. Through multibody dynamics simulator with terra mechanics for three dimensional model and several experiments for planar model, we showed that the proposed method is effective and its computation is fast enough comparing with the conventional methods.
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