| 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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| 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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