Mechanism and control of bipedal fast locomotion robots based on limit cycle reference

• Project/Area Number: 26420171
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Dynamics/Control
• Research Institution: Tokyo Institute of Technology
• Principal Investigator: Yamakita Masaki 東京工業大学, 工学院, 准教授 (30220247)
• Project Period (FY): 2014-04-01 – 2018-03-31
• Project Status: Completed (Fiscal Year 2017)
• Budget Amount: ¥5,070,000 (Direct Cost: ¥3,900,000、Indirect Cost: ¥1,170,000); Fiscal Year 2016: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000); Fiscal Year 2015: ¥2,990,000 (Direct Cost: ¥2,300,000、Indirect Cost: ¥690,000); Fiscal Year 2014: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
• Keywords: 2脚ロボット / イナータ / 揺動質量 / ２足ロボット / リミットサイクル走行 / リミットサイクル歩行

Outline of Final Research Achievements

For a study of bipedal running robots, we have designed and prepared of construction of a running robot with inerters and wobbling mass. In the design of the robot, SEA(Series Elastic Actuator) mechanism was introduced to overcome uncertainties of environment. A control method for robots with SEAs was also proposed and the validity of the method was confirmed by numerical simulations.

Research Products

• [Presentation] Robust Constrained Stabilization Control using Control Lyapunov and Control Barrier Function in the presence of Measurement Noises (2018)
  • Author(s): R. Takano, M. Yamakita
  • Organizer: CCTA 2018
  • Int'l Joint Research
• [Presentation] Approximated Model Matching Control for Running Robots with SEA Actuators (2018)
  • Author(s): C.Junho, R. Takano, M. Yamakita
  • Organizer: AIM 2018
  • Int'l Joint Research
• [Presentation] Sequential-contact bipedal running based on SLIP model through zero moment point control (2017)
  • Author(s): R.Takano, M.Yamakita
  • Organizer: AIM2017
  • Int'l Joint Research
• [Presentation] Inerter Effects for Running Robots with Mechanical Impedance (2017)
  • Author(s): Y.Hanazawa, R.Takano, M. Yamakita
  • Organizer: ROBIO 2017
  • Int'l Joint Research
• [Presentation] Study on Mechanism and Control of High Efficiency Running Biped Robot (2017)
  • Author(s): H. Sasaki, M. Yamakita
  • Organizer: SICE 2017
  • Int'l Joint Research
• [Presentation] Analysis of Biped Running with Rotational Inerter (2016)
  • Author(s): Rin Takano, Masaki Yamakita, Qiuguo Zhu
  • Organizer: ROBIO 2016
  • Place of Presentation: The Parisian Macao
  • Year and Date: 2016-12-05
  • Int'l Joint Research
• [Presentation] 回転型イナータの適用部位の違いによる2足移動 ロボットの移動性能変化 (2016)
  • Author(s): 高野凛,花澤雄太, 山北昌毅
  • Organizer: 第３４回日本ロボット学会学術講演会
  • Place of Presentation: 山形大学
  • Year and Date: 2016-09-07
• [Presentation] 首イナータの効果を用いた高速リミットサイクル走行 (2015)
  • Author(s): 高野 凜、山北 昌毅
  • Organizer: ＳＩ２０１５
  • Place of Presentation: 名古屋国際会議場
  • Year and Date: 2015-12-15
• [Presentation] obust Analysis of Biped Walking on Uneven Terrain Using Output Zeroing Controls (2015)
  • Author(s): T.Hayashi, M. Yamakit
  • Organizer: ROBIO2015
  • Place of Presentation: huhai Dehan Hotel（珠海）
  • Year and Date: 2015-12-07
  • Int'l Joint Research
• [Presentation] High speed running of flat foot biped robot with inerter using SLIP model (2015)
  • Author(s): D.N.Thanh, T.Hayashi, .Yamakita
  • Organizer: AIM2015
  • Place of Presentation: BEXCO(釜山)
  • Year and Date: 2015-07-08
  • Int'l Joint Research
• [Presentation] 足首にイナーターを持つ歩行ロボットに対する揺動質量の効果 (2014)
  • Author(s): D.N.Thanh, 山北 昌毅
  • Organizer: 第15 回システムインテグレーション部門講演会
  • Place of Presentation: 東京ビッグサイト
  • Year and Date: 2014-12-17
• [Presentation] 揺動質量の効果を用いた高速リミットサイクル走行 (2014)
  • Author(s): 林 映光，山北 昌毅
  • Organizer: 第15 回システムインテグレーション部門講演会
  • Place of Presentation: 東京ビッグサイト
  • Year and Date: 2014-12-16
• [Presentation] SLIP モデルのダイナミクスを利用した高速リミットサイクル走行 (2014)
  • Author(s): 林 映光，山北 昌毅、花澤 雄太
  • Organizer: 第32 回日本ロボット学会学術講演会
  • Place of Presentation: 九州産業大学
  • Year and Date: 2014-09-05