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Unified Control Theory of Humanoid Robot by Hybrid Control including Probabilistic State Transition

Research Project

Project/Area Number 18K19802
Research Category

Grant-in-Aid for Challenging Research (Exploratory)

Allocation TypeMulti-year Fund
Review Section Medium-sized Section 61:Human informatics and related fields
Research InstitutionThe University of Tokyo

Principal Investigator

Yamamoto Ko  東京大学, 大学院情報理工学系研究科, 准教授 (20641880)

Project Period (FY) 2018-06-29 – 2021-03-31
Project Status Completed (Fiscal Year 2020)
Budget Amount *help
¥6,370,000 (Direct Cost: ¥4,900,000、Indirect Cost: ¥1,470,000)
Fiscal Year 2020: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
Fiscal Year 2019: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
Fiscal Year 2018: ¥2,470,000 (Direct Cost: ¥1,900,000、Indirect Cost: ¥570,000)
Keywords二足歩行制御 / ハイブリッド制御 / ヒューマノイドロボット / ハイブリッドシステム / 力制御 / 確率モデル / 人型ロボット / 油圧アクチュエータ / 確率的制御
Outline of Final Research Achievements

In this research, mathematical frameworks and algorithms for a simplified model of a humanoid robot were developed, including the control design and stabilizable region analysis explicitly considering discontinuous state transitions during walking, and the model predictive control considering the probability of landing impact forces. Moreover, the transformation method from the simplified model to the detailed whole-body dynamics was also proposed. These frameworks and algorithms were validated through dynamics simulations and experiments. In a hydrostatically-driven humanoid robot, stable biped walking motions with a knee-stretched posture, and stable balancing control against unknown disturbances or on an inclining ground.

Academic Significance and Societal Importance of the Research Achievements

足の踏みかえに伴い構造が離散的に変化する人型ロボットの力学的な特徴を扱うことができる単純化モデルの制御方法、および単純化モデルと詳細全身モデルの間の変換方法を示した。数学・力学に関する理論的枠組みを構築しただけでなく、それらを実験的に検証し、実際のロボットシステムで安定な二足歩行、バランス制御を実現した。これらの成果は、人型ロボットが実環境で安定に歩行できるための基盤技術につながる。

Report

(4 results)
  • 2020 Annual Research Report   Final Research Report ( PDF )
  • 2019 Research-status Report
  • 2018 Research-status Report
  • Research Products

    (20 results)

All 2021 2020 2019 2018 Other

All Journal Article (3 results) (of which Peer Reviewed: 3 results) Presentation (15 results) (of which Int'l Joint Research: 5 results) Remarks (2 results)

  • [Journal Article] Whole-body Compliant Motion by Sensor Integration of an EHA-driven Humanoid Hydra2021

    • Author(s)
      Tianyi Ko, Kazuya Murotani, Ko Yamamoto, and Yoshihiko Nakamura
    • Journal Title

      International Journal of Humanoid Robotics,

      Volume: - Issue: 01 Pages: 2150002-2150002

    • DOI

      10.1142/s021984362150002x

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Comparative Study of Force Control Methods for Bipedal Walking using a Force-sensitive Hydraulic Humanoid2020

    • Author(s)
      Kazuya Murotani, Ko Yamamoto, Taiki Ishigaki and Yoshihiko Nakamura
    • Journal Title

      Advanced Robotics

      Volume: 34 Issue: 21-22 Pages: 1455-1471

    • DOI

      10.1080/01691864.2020.1835533

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Time-variant Feedback Controller based on Capture Point and the Maximal Output Admissible Set of a Humanoid2019

    • Author(s)
      Ko Yamamoto
    • Journal Title

      Advanced Robotics

      Volume: 33 Issue: 18 Pages: 944-955

    • DOI

      10.1080/01691864.2019.1633403

    • Related Report
      2019 Research-status Report
    • Peer Reviewed
  • [Presentation] Maximal Output Admissible Set of Foot Position Control in Humanoid Walking2020

    • Author(s)
      Ko Yamamoto, Ryo Yanase and Yoshihiko Nakamura
    • Organizer
      The 23rd CISM IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY)
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 機会制約付きモデル予測制御による外乱を考慮したヒューマノイドの制御2020

    • Author(s)
      酒見祐一, 山本江, 中村仁彦
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会
    • Related Report
      2020 Annual Research Report
  • [Presentation] リーマン多様体上のコンプライアンス分配最適化によるロボットの制御2020

    • Author(s)
      石垣泰暉, 山本江, 中村仁彦
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会
    • Related Report
      2020 Annual Research Report
  • [Presentation] 人型ロボットの二足歩行における着地位置制御を考慮した MOA集合2020

    • Author(s)
      柳瀬諒, 山本江, 中村仁彦
    • Organizer
      ロボティクスシンポジア
    • Related Report
      2019 Research-status Report
  • [Presentation] リーマン多様体上のコンプライアンス分配最適化によるロボットの制御(発表予定)2020

    • Author(s)
      石垣泰暉, 山本江, 中村仁彦
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会
    • Related Report
      2019 Research-status Report
  • [Presentation] 機会制約付きモデル予測制御による外乱を考慮したヒューマノイドの制御(発表予定)(発表予定)2020

    • Author(s)
      酒見祐一, 山本江, 中村仁彦
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会
    • Related Report
      2019 Research-status Report
  • [Presentation] 電気静油圧駆動ロボットアームの粘弾性動的最適化制御(発表予定)2020

    • Author(s)
      大石健人, 山本江, 今城雄太郎, 駒形光夫, 中村仁彦
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会
    • Related Report
      2019 Research-status Report
  • [Presentation] Compliance Optimization Considering Dynamics for Whole-body Control of a Humanoid2019

    • Author(s)
      Ko Yamamoto and Yoshihiko Nakamura
    • Organizer
      International Symposium on Robotics Research
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research
  • [Presentation] Resolved Viscoelasticity Control Considering Singularity for Knee-stretched Walking of a Humanoid2019

    • Author(s)
      Kazuya Murotani, Ko Yamamoto, Tianyi Ko and Yoshihiko Nakamura
    • Organizer
      IEEE International Conference on Robotics and Automation
    • Related Report
      2019 Research-status Report 2018 Research-status Report
    • Int'l Joint Research
  • [Presentation] ヒューマノイドの動力学を考慮した全身コンプライアンス最適化によるバランス制御の実験検証2019

    • Author(s)
      山本江, 石垣泰暉, 中村仁彦
    • Organizer
      第37回ロボット学会学術講演会
    • Related Report
      2019 Research-status Report
  • [Presentation] 人型ロボットの動力学を考慮した粘弾性分解制御2019

    • Author(s)
      山本江, 室谷和哉,中村仁彦
    • Organizer
      ロボティクスシンポジア
    • Related Report
      2018 Research-status Report
  • [Presentation] Compliant Biped Locomotion of Hydra, an Electro-Hydrostatically Driven Humanoid2018

    • Author(s)
      Tianyi Ko, Ko Yamamoto, Kazuya Murotani, and Yoshihiko Nakamura
    • Organizer
      IEEE-RAS International Conference on Humanoid Robots
    • Related Report
      2018 Research-status Report
    • Int'l Joint Research
  • [Presentation] Experimental Validation of Resolved Viscoelasticity Control on Hydrostatically Driven Humanoid Hydra2018

    • Author(s)
      Ko Yamamoto, Tianyi Ko, Kazuya Murotani, and Yoshihiko Nakamura
    • Organizer
      International Symposium on Experimental Robotics
    • Related Report
      2018 Research-status Report
    • Int'l Joint Research
  • [Presentation] 静油圧駆動ヒューマノイドHydraの粘弾性分解制御による全身柔軟運動の実現2018

    • Author(s)
      康天毅, 山本江, 室谷和哉, 中村仁彦
    • Organizer
      第36回日本ロボット学会学術講演会
    • Related Report
      2018 Research-status Report
  • [Presentation] 全身トルク制御とZMP外乱オブザーバによる高精度ZMP制御2018

    • Author(s)
      室谷和哉, 康天毅, 山本江, 中村仁彦
    • Organizer
      第36回日本ロボット学会学術講演会, 2018
    • Related Report
      2018 Research-status Report
  • [Remarks] 東京大学大学院 情報理工学系研究科 知能機械情報学専攻 山本 江

    • URL

      http://www.ynl.t.u-tokyo.ac.jp/member/yamamoto/index-j.html

    • Related Report
      2020 Annual Research Report
  • [Remarks] 東京大学 山本 江

    • URL

      http://www.ynl.t.u-tokyo.ac.jp/member/yamamoto/index-j.html

    • Related Report
      2019 Research-status Report 2018 Research-status Report

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Published: 2018-07-25   Modified: 2022-12-28  

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