Optimization method of redundant control inputs and fault tolerant control against partial actuator failure for six-legged-robot
| Project/Area Number |
17K06243
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Dynamics/Control
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| Research Institution | Kisarazu National College of Technology |
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Principal Investigator |
UCHIDA HIROAKI 木更津工業高等専門学校, 機械工学科, 教授 (00223561)
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| Project Period (FY) |
2017-04-01 – 2020-03-31
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| Project Status |
Completed (Fiscal Year 2019)
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| Budget Amount *help |
¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000)
Fiscal Year 2019: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2018: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2017: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
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| Keywords | 6脚ロボット / 胴体6自由度制御 / 姿勢制御 / 歩行方向制御 / 冗長入力 / アクチュエータ故障 / LQI制御 / 6自由度制御 / 最適化 / 最適サーボ系 / FB制御 / 冗長システム / 耐故障制御 |
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| Outline of Final Research Achievements |
In this study, the optimization method of redundant inputs for a six-legged robot is examined. The optimization method is applied for a six-degree-of-freedom (6-DOF) control of the robot body. The 6-DOF control is composed by a posture control method and the walking directional control. The gait is 5-support-legged-walking and the posture control and the walking directional control are performed. In the case of 5-support-legged-walking, the two legs are redundant. LQI control systems are constructed, and a method to optimize the obtained feedback (FB) inputs using an optimization method examined. The effectiveness of the 6-DOF control method of the body when some actuators of the leg links were damaged was examined for a posture control and a walking directional control, respectively. The effectiveness of the examined methods is confirmed by 3D simulations.
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| Academic Significance and Societal Importance of the Research Achievements |
6脚ロボットの胴体6自由度制御手法における脚リンクアクチュエータの冗長入力の最適化手法とその制御性能，脚リンクアクチュエータが故障した場合の歩容と胴体6自由度制御手法のロバスト性能について明らかにした。5脚支持歩行の場合，3脚支持が維持できる状態であれば，2脚のアクチュエータが損傷しても5脚支持と同等の制御性能が得られることが明らかとなった。
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Report
(4 results)
Research Products
(5 results)
