| Budget Amount *help |
¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000)
Fiscal Year 2011: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2010: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2009: ¥3,120,000 (Direct Cost: ¥2,400,000、Indirect Cost: ¥720,000)
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| Research Abstract |
The fastest trot walk for quadruped robots controlled by DC servo motors is derived as a time trajectory of the gravity center of the body assuming that the desired path is a horizontal line and the orientation of the body is constant during the walk. In addition, a way of deriving time optimal trajectories between two different velocities is proposed. By using the above results, the fastest walk between two resting states is obtained.
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