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Integration of legged locomotion control methods and understanding of motion intelligence from the view points of both mechanics and control

Research Project

Project/Area Number 19500166
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Perception information processing/Intelligent robotics
Research InstitutionKyoto Institute of Technology (2008)
The University of Electro-Communications (2007)

Principal Investigator

KIMURA Hiroshi  Kyoto Institute of Technology, 工芸科学研究科, 教授 (40192562)

Project Period (FY) 2007 – 2008
Project Status Completed (Fiscal Year 2008)
Budget Amount *help
¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
Fiscal Year 2008: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Fiscal Year 2007: ¥2,470,000 (Direct Cost: ¥1,900,000、Indirect Cost: ¥570,000)
Keywords知能ロボティックス / 知能機械 / 姿勢制御とリズム運動制御の統合 / 歩容の創発 / 不整地動歩行 / 脚負荷情報 / フルバウンド歩容 / 機構の動特性と歩容 / Leg Controller / 非振動子CPG / 姿勢制御と周期運動制御の統合 / 筋骨格系 / ステッピング・シミュレーション
Research Abstract

四脚歩行において姿勢制御とリズム運動制御と統合することが出来る汎用脚式移動制御器を設計し力学シミュレータに実装した.脚のピッチ面内リズム運動は, 支持脚期から遊脚期への脚相遷移に脚負荷(leg loading/unloading)を用いた脚制御器(legcontroller, LC)により生成される. 脚負荷情報は対側脚間の負荷の移動, すなわち , ロール面内姿勢情報を含んでいるので,脚負荷情報に基づく脚相調節は, 脚間の協調(歩容)を直接的なLC 間結合なしで発生させることが出来るだけでなく, 歩容調節を通してロール面内姿勢制御を行うことが出来る. 我々は, この制御器が横方向外乱に対して歩行安定化の能力をある程度持つこと, ロール運動の振幅を減らす外乱に対しては同側脚間に上行の脚相調節機能が必要であることを示した. 結果として, 「支持脚期から遊脚期への脚相遷移に脚負荷を用いたLC」と「同側脚LC 間の上行脚相調節機構」という簡単な運動生成・制御機構により, 従来の手法では実現が困難であった「前庭感覚に基づく踏み出し反射を用いない長周期低速度での不整地動歩行」が可能であることを示した. また, 四脚走行の歩容生成においては前後脚ヒザ関節に取り付けられたバネの剛性比や重心の幾何中心からの偏差など機構の持つ特性が重要であることを数値解析,力学シミュレーション, 四脚ロボット実験により示し, 一周期に二回跳躍期があるフルバウンド走行が現れる条件を簡単な関節PD 制御との関係で明らかにした. これらの研究により, 四脚歩行・走行制御手法の統合と機構と制御両面からの運動知能の統一的理解が実現できた.

Report

(3 results)
  • 2008 Annual Research Report   Final Research Report ( PDF )
  • 2007 Annual Research Report
  • Research Products

    (40 results)

All 2009 2008 2007 Other

All Journal Article (13 results) (of which Peer Reviewed: 13 results) Presentation (25 results) Remarks (2 results)

  • [Journal Article] Gait Adaptation Model in Human Split-Belt Treadmill Walking Using a Two-Dimensional Biped Robot2009

    • Author(s)
      Y. Otoda, H. Kimura and K. Takase
    • Journal Title

      Advanced Robotics 23-5

      Pages: 535-561

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] a simple and autonomous quadruped running robot2009

    • Author(s)
      Z.G. Zhang and H. Kimura, Rush
    • Journal Title

      Journal of Systems and Control Engineering 223

      Pages: 323-336

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] Biomorphic Quadruped 'Tekken' Robot Using various Gaits : Walk, Trot, Free-Gait and Bound2009

    • Author(s)
      Y. Fukuoka and H. Kimura
    • Journal Title

      Applied Bionics and Biomechanics 6-1

      Pages: 1-9

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] 同一機構で歩行・走行する4脚ロボット2009

    • Author(s)
      福岡泰宏, 木村浩
    • Journal Title

      日本機会学会論文集C編 75-750

      Pages: 390-396

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] 同一機構で歩行・走行する4脚ロボット2009

    • Author(s)
      福岡泰宏, 木村浩
    • Journal Title

      日本機会学会論文集C編. 75

      Pages: 390-396

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Rush : a simple and autonomous quadruped running robot2009

    • Author(s)
      Z. G. Zhang, H. Kimura
    • Journal Title

      Journal of Systems and Control Engineering 223

      Pages: 323-336

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Biomorphic Quadruped 'Tekken' Robot Using various Gaits : Walk, Trot, Free-Gait and Bound2009

    • Author(s)
      Y. Fukuoka, H. Kimura
    • Journal Title

      Applied Bionics and Biomechanics 6

      Pages: 1-9

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Gait Adaptation Model in Human Split-Belt Treadmill Waiking Using a Two-Dimensional Biped Robot2009

    • Author(s)
      Y. Otoda, H. Kimura, K. Takase
    • Journal Title

      Advanced Robotics 23

      Pages: 535-561

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Towards a general neural controller for quadrupedal locomotion2008

    • Author(s)
      C. Maufroy, H. Kimura and K. Takase
    • Journal Title

      NEURAL NETWORKS 21-4

      Pages: 667-681

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] Towards a general neural controller for quadrupedal locmotion2008

    • Author(s)
      C. Maufroy, H. Kimura, K. Takase
    • Journal Title

      NEURAL NETWORKS 21

      Pages: 667-681

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Towards a general neural controller for quadrupedal locomotion2008

    • Author(s)
      Christophe Maufroy, Hiroshi Kimura and Kunikatsu Takase
    • Journal Title

      NEURAL NETWORKS In Press

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Adaptive Dynamic Walking of a Quadruped Robot on Natural Ground Based on Biological Concepts2007

    • Author(s)
      H. Kimura, Y. Fukuoka and A.H. Cohen
    • Journal Title

      Int. Journal of Robotics Research 26-5

      Pages: 475-490

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] Adaptive Dynamic Walking of a Quadruped Robot on Natural Ground Based on Biological Concepts2007

    • Author(s)
      Hiroshi Kimura, Yasuhiro Fukuoka and Avis H. Cohen
    • Journal Title

      Int. Journal of Robotics Research 26-5

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Presentation] Stable Dynamic Walking of a Quadruped via Phase Modulations against Small Disturbances2009

    • Author(s)
      C. Maufroy, H. Kimura and K. Takase
    • Organizer
      IEEE Robotics and Automation
    • Place of Presentation
      Kobe
    • Year and Date
      2009-05-16
    • Related Report
      2008 Annual Research Report 2008 Final Research Report
  • [Presentation] Adaptive Walking of a 2D Biped Robot during Splitbelt Treadmill2008

    • Author(s)
      Y. Otoda, H. Kimura and K. Takase
    • Organizer
      SICE Annual Conf
    • Place of Presentation
      Tokyo
    • Year and Date
      2008-08-21
    • Related Report
      2008 Final Research Report
  • [Presentation] Emergence of a Quadrupedal Bound Gait as Interaction among the Brain2008

    • Author(s)
      T. Masuda, H. Kimura and K. Takase
    • Organizer
      SICE Annual Conf
    • Place of Presentation
      Tokyo
    • Year and Date
      2008-08-21
    • Related Report
      2008 Final Research Report
  • [Presentation] Towards a general neural controller for 3D quadrupedal locomotion2008

    • Author(s)
      C. Maufroy, H. Kimura and K. Takase
    • Organizer
      SICE Annual Conf
    • Place of Presentation
      Tokyo
    • Year and Date
      2008-08-21
    • Related Report
      2008 Final Research Report
  • [Presentation] Towards a general neural controller for 3D quadrupedal locomotion2008

    • Author(s)
      C. Maufroy, H. Kimura, K. Takase
    • Organizer
      SICE Annual Conference
    • Place of Presentation
      Tokyo
    • Year and Date
      2008-08-21
    • Related Report
      2008 Annual Research Report
  • [Presentation] Emergence of a Quadrupedal Bound Gait as Interaction among the Brain2008

    • Author(s)
      T. Masuda, H. Kimura, K. Takase
    • Organizer
      SICE Annual Conference
    • Place of Presentation
      Tokyo
    • Year and Date
      2008-08-21
    • Related Report
      2008 Annual Research Report
  • [Presentation] Adaptive Walking of a 2D Biped Robot during Splitbelt Treadmill2008

    • Author(s)
      Y. Otoda, H. Kimura, K. Takase
    • Organizer
      SICE Annual Conference
    • Place of Presentation
      Tokyo
    • Year and Date
      2008-08-21
    • Related Report
      2008 Annual Research Report
  • [Presentation] Gait Adaptations of a 2D Biped Robot in Split-belt Treadmill Walking2008

    • Author(s)
      H. Kimura
    • Organizer
      Locomotion Control Workshop
    • Place of Presentation
      Zurich
    • Year and Date
      2008-06-28
    • Related Report
      2008 Final Research Report
  • [Presentation] Gait Adaptations of a 2D Biped Robot in Split-belt Treadmill Walking2008

    • Author(s)
      H. Kimura
    • Organizer
      Robotics, Science and Systerms 2008, Locomotion Control Workshop
    • Place of Presentation
      Zurich
    • Year and Date
      2008-06-28
    • Related Report
      2008 Annual Research Report
  • [Presentation] Robotics as a Tool for Gait AND Posture Study2008

    • Author(s)
      H. Kimura
    • Organizer
      4th Int. Symp. on Adaptive Motion of Animals and Machines
    • Place of Presentation
      Cleveland
    • Year and Date
      2008-06-04
    • Related Report
      2008 Final Research Report
  • [Presentation] Robotics as a Tool for Gait AND Posture Study2008

    • Author(s)
      H. Kimura
    • Organizer
      4^<th> Int. Symposium on Adaptive Motion of Animals and Machines
    • Place of Presentation
      Cleveland
    • Year and Date
      2008-06-04
    • Related Report
      2008 Annual Research Report
  • [Presentation] Towards a general neural controller for 3D quadrupedal locomotion2008

    • Author(s)
      Chris Maufroy and Hiroshi Kimura
    • Organizer
      第20回自律分散システム・シンポジウム
    • Place of Presentation
      上諏訪
    • Year and Date
      2008-01-25
    • Related Report
      2007 Annual Research Report
  • [Presentation] 小型ヒューマノイドの運動性能を拡張するアタッチメントの開発と走行制御2007

    • Author(s)
      澤 謙太, 木村 浩
    • Organizer
      SICE-SI
    • Place of Presentation
      広島
    • Year and Date
      2007-12-21
    • Related Report
      2007 Annual Research Report
  • [Presentation] 柔軟な背骨を持つ小型4脚走行ロボットの開発2007

    • Author(s)
      齋藤 洋平, 木村 浩
    • Organizer
      SICE-SI
    • Place of Presentation
      広島
    • Year and Date
      2007-12-21
    • Related Report
      2007 Annual Research Report
  • [Presentation] Biologically Inspired Neural Controller for Quadruped2007

    • Author(s)
      C. Maufroy, H. Kimura and K. Takase
    • Organizer
      IEEE Robotics and Biomimetics
    • Place of Presentation
      Sanya(China)
    • Year and Date
      2007-12-17
    • Related Report
      2008 Final Research Report 2007 Annual Research Report
  • [Presentation] Efficient Bipedal Walking Using Delayed Stepping Reflex2007

    • Author(s)
      Yuji Otoda, Hiroshi Kimura and Kunikatsu Takase
    • Organizer
      SICE Annual Conference
    • Place of Presentation
      Takamatsu
    • Year and Date
      2007-09-19
    • Related Report
      2007 Annual Research Report
  • [Presentation] Realization of Adaptive Running of a Quadruped Robot Using Delayed Feedback Control and Phase Resetting2007

    • Author(s)
      T. Masuda and H. Kimura
    • Organizer
      2nd Int. Symp. on Mobiligence
    • Place of Presentation
      Awaji
    • Year and Date
      2007-07-20
    • Related Report
      2008 Final Research Report
  • [Presentation] Bipedal Walking Using Natural Dynamics and Delayed Stepping Reflex2007

    • Author(s)
      Y. Otoda and H. Kimura
    • Organizer
      2nd Int. Symp. on Mobiligence
    • Place of Presentation
      Awaji
    • Year and Date
      2007-07-20
    • Related Report
      2008 Final Research Report
  • [Presentation] Towards a General Neural Controller for Quadrupedal Locomotion2007

    • Author(s)
      C. Maufroy and H. Kimura
    • Organizer
      2nd Int. Symp. on Mobiligence
    • Place of Presentation
      Awaji
    • Year and Date
      2007-07-20
    • Related Report
      2008 Final Research Report
  • [Presentation] Emergence of Quadrupedal Gaits as Interaction among the Brain2007

    • Author(s)
      H. Kimura, C. Maufroy and T. Masuda
    • Organizer
      Body and Environment, 2nd Int. Symp. On Mobiligence
    • Place of Presentation
      Awaji
    • Year and Date
      2007-07-20
    • Related Report
      2008 Final Research Report
  • [Presentation] Emergence of Quadrupedal Gaits as Interaction among the Brain, Body and Environment2007

    • Author(s)
      Hiroshi Kimura, Chris Maufroy and Toshiki Masuda
    • Organizer
      2nd International Symposium on Mobiligence
    • Place of Presentation
      Awaji
    • Year and Date
      2007-07-20
    • Related Report
      2007 Annual Research Report
  • [Presentation] Towards a General Neural Controller for Quadrupedal Locomotion2007

    • Author(s)
      Chris Maufroy and Hiroshi Kimura
    • Organizer
      2nd International Symposium on Mobiligence
    • Place of Presentation
      Awaji
    • Year and Date
      2007-07-20
    • Related Report
      2007 Annual Research Report
  • [Presentation] Bipedal Walking Using Natural Dynamics and Delayed Stepping Reflex2007

    • Author(s)
      Yuji Otoda and Hiroshi Kimura
    • Organizer
      2nd International Symposium on Mobiligence
    • Place of Presentation
      Awaji
    • Year and Date
      2007-07-20
    • Related Report
      2007 Annual Research Report
  • [Presentation] Realization of Adaptive Running of a Quadruped Robot Using Delayed Feedback Control and Phase Resetting2007

    • Author(s)
      Toshiki Masuda and Hiroshi Kimura
    • Organizer
      2nd International Symposium on Mobiligence
    • Place of Presentation
      Awaji
    • Year and Date
      2007-07-20
    • Related Report
      2007 Annual Research Report
  • [Presentation] Towards Realization of Adaptive Running of a Quadruped Robot Using Delayed Feedback Control2007

    • Author(s)
      Z.G. Zhang, T. Masuda, H. Kimura and K. Takase
    • Organizer
      IEEE Robotics and Automation
    • Place of Presentation
      Roma
    • Year and Date
      2007-04-12
    • Related Report
      2008 Final Research Report 2007 Annual Research Report
  • [Remarks]

    • URL

      http://robotics.mech.kit.ac.jp/research/Quadruped/general-quadrupedal-locomotion-controller-e.html

    • Related Report
      2008 Final Research Report
  • [Remarks]

    • URL

      http://robotics.mech.kit.ac.jp/research/Quadruped/general-quadrupedal-locomotion-controller-e.html

    • Related Report
      2008 Annual Research Report

URL: 

Published: 2007-04-01   Modified: 2016-04-21  

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