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High Performance Force and Position Contorl for Walking Robot with Two-Joint Simultaneously Driven Mechanism

Research Project

Project/Area Number 26420225
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Research Field Power engineering/Power conversion/Electric machinery
Research InstitutionNagaoka University of Technology

Principal Investigator

Miyazaki Toshimasa  長岡技術科学大学, 工学研究科, 准教授 (90321413)

Co-Investigator(Kenkyū-buntansha) 大石 潔  長岡技術科学大学, 工学研究科, 教授 (40185187)
横倉 勇希  長岡技術科学大学, 工学研究科, 助教 (70622364)
Project Period (FY) 2014-04-01 – 2017-03-31
Project Status Completed (Fiscal Year 2016)
Budget Amount *help
¥5,070,000 (Direct Cost: ¥3,900,000、Indirect Cost: ¥1,170,000)
Fiscal Year 2016: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
Fiscal Year 2015: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Fiscal Year 2014: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Keywords2関節筋 / 遊星歯車機構 / レッグロボット / 2関節同時駆動機構 / 4脚ロボット / 機能別実効筋 / 電気機器 / ロボット / 筋肉モデル
Outline of Final Research Achievements

The leg walking mechanism is expected to be applied as a moving means of an auxiliary robot which operates in the human living environment. In this study, we newly developed a leg mechanism model using a two-joint antagonistic driving rotary machine, constructed a force / position simultaneous control system such as kicking leg motion, landing motion and the like more precisely, and dynamics simulation and experiment To evaluate the possibility of the proposed method and to establish its effectiveness. In the kicking motion, both the slip suppression and the kicking leg force control were compatible with each other, taking advantage of the operating characteristics of the 2 joint antagonistic driving rotary machine. Moreover, at the time of landing motion, we propose a position force simultaneous control method considering the dynamics necessary for free motion control of the main body while supporting its own weight, and confirmed its effectiveness by experiment.

Report

(4 results)
  • 2016 Annual Research Report   Final Research Report ( PDF )
  • 2015 Research-status Report
  • 2014 Research-status Report
  • Research Products

    (20 results)

All 2017 2016 2015 2014

All Journal Article (1 results) (of which Peer Reviewed: 1 results,  Open Access: 1 results) Presentation (19 results) (of which Int'l Joint Research: 1 results)

  • [Journal Article] Stable Force Control of Industrial Robot Based on Spring Ratio and Instantaneous State Observer2016

    • Author(s)
      Takashi Yoshioka, Akinori Yabuki, Yuki Yokokura, Kiyoshi Ohishi, Toshimasa Miyazaki, Thao Tran Phuong
    • Journal Title

      IEEJ Journal of Industry Applications

      Volume: 5 Pages: 132-140

    • NAID

      130005133139

    • Related Report
      2015 Research-status Report
    • Peer Reviewed / Open Access
  • [Presentation] Balance Optimization Torque Distribution Control Method for considering Transmission Loss in Bi-articular Actuators Mechanism2017

    • Author(s)
      Ngo Mnh Tan、Toshimasa Miyazaki, Kiyoshi Ohishi
    • Organizer
      third IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization (SAMCON2017)
    • Place of Presentation
      長岡技術科学大学
    • Year and Date
      2017-03-06
    • Related Report
      2016 Annual Research Report
  • [Presentation] Sensorless Force Control System Using Friction-Free First Order Disturbance Observer2017

    • Author(s)
      Hiroshi Nakamura, Kiyoshi Ohishi, Yuki Yokokura, Toshimasa Miyazaki,Akifumi Tsukamoto
    • Organizer
      third IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization (SAMCON2017)
    • Place of Presentation
      長岡技術科学大学
    • Year and Date
      2017-03-06
    • Related Report
      2016 Annual Research Report
  • [Presentation] Vibration Suppression Control System Based on State Feedback Using Approximation Model of Two- Inertia System for Three-Inertia System2017

    • Author(s)
      Akirnori Yabuki, Kiyoshi Ohishi, Toshimasa Miyazaki, Yuki Yokokura
    • Organizer
      third IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization (SAMCON2017)
    • Place of Presentation
      長岡技術科学大学
    • Year and Date
      2017-03-06
    • Related Report
      2016 Annual Research Report
  • [Presentation] アクティブな操作アシスト制御を行う手押し式電動耕耘機の開発2016

    • Author(s)
      加藤航,多田武流,中沢拓未,宮崎敏昌,大石潔
    • Organizer
      自動制御連合講演会
    • Place of Presentation
      北九州国際会議場
    • Year and Date
      2016-11-10
    • Related Report
      2016 Annual Research Report
  • [Presentation] 異なる長さを持つ2リンクアームに対する生体の筋特性を模擬したコンプライアンス制御2016

    • Author(s)
      陶山 泰裕,宮崎 敏昌,大石 潔
    • Organizer
      日本ロボット学会学術講演会
    • Place of Presentation
      山形大学小白川キャンパス
    • Year and Date
      2016-09-07
    • Related Report
      2016 Annual Research Report
  • [Presentation] ニ関節筋を用いたロボットアームの遊星歯車機構の自己分伝達損失トルク補償法2016

    • Author(s)
      Minh Tan Ngo, 宮崎敏昌, 大石潔
    • Organizer
      日本ロボット学会学術講演会
    • Place of Presentation
      山形大学小白川キャンパス
    • Year and Date
      2016-09-07
    • Related Report
      2016 Annual Research Report
  • [Presentation] 負荷イナーシャ同定機構による2 慣性共振系における共振比制御の精度向上2016

    • Author(s)
      中島翼,宮崎敏昌,金沢正治
    • Organizer
      電気学会産業応用部門大会
    • Place of Presentation
      群馬大学荒牧キャンパス
    • Year and Date
      2016-08-30
    • Related Report
      2016 Annual Research Report
  • [Presentation] 電動耕耘機制御のための定置センサと加速度センサを用いた速度推定法2016

    • Author(s)
      加藤航,宮崎敏昌,大石潔
    • Organizer
      ロボティクス・メカトロニクス講演会2016
    • Place of Presentation
      パシフィコ横浜
    • Year and Date
      2016-06-08
    • Related Report
      2016 Annual Research Report
  • [Presentation] Transmission Torque Linearization of Quadruped Robot with a Two-joint Simultaneous Drive Mechanism for Gravity Compensation2015

    • Author(s)
      K. Ueda; T. Miyazaki; K. Ohishi
    • Organizer
      IECON 2015 - 41th Annual Conference of the IEEE in Industrial Electronics Society
    • Place of Presentation
      パシフィコ横浜
    • Year and Date
      2015-11-09
    • Related Report
      2015 Research-status Report
    • Int'l Joint Research
  • [Presentation] 二関節同時駆動アクチュエータを備えた四脚ロボットの重力補償用二関節筋伝達トルク線形化2015

    • Author(s)
      上田圭祐,宮崎敏昌,大石潔
    • Organizer
      平成27年度電気学会産業応用部門大会
    • Place of Presentation
      大分大学 旦野原キャンパス
    • Year and Date
      2015-09-02
    • Related Report
      2015 Research-status Report
  • [Presentation] 星歯車機構を用いた二関節同時駆動型レッグロボットのトルク伝達損失補償2015

    • Author(s)
      宮崎敏昌,上田圭祐,佐藤情,大石潔
    • Organizer
      平成27年度電気学会産業応用部門大会
    • Place of Presentation
      大分大学 旦野原キャンパス
    • Year and Date
      2015-09-02
    • Related Report
      2015 Research-status Report
  • [Presentation] 二関節同時駆動型アクチュエータを備えた四脚歩行ロボットの歩行制御に関する研究2015

    • Author(s)
      上田圭祐,宮崎敏昌,大石潔
    • Organizer
      ロボティクス・メカトロニクス講演会2015 in Kyoto
    • Place of Presentation
      京都市勧業館「みやこめっせ」
    • Year and Date
      2015-05-17
    • Related Report
      2015 Research-status Report
  • [Presentation] 生体の四肢先端コンプライアンス特性を再現したロボットアームの位置制御2015

    • Author(s)
      陶山 泰裕,宮崎 敏昌,大石 潔
    • Organizer
      ロボティクス・メカトロニクス講演会2015 in Kyoto
    • Place of Presentation
      京都市勧業館「みやこめっせ」
    • Year and Date
      2015-05-17
    • Related Report
      2015 Research-status Report
  • [Presentation] 二関節筋特性を再現したアーム先端コンプライアンス特性の関節空間での制御2015

    • Author(s)
      陶山 泰裕,宮崎 敏昌,大石 潔
    • Organizer
      電気学会 全国大会
    • Place of Presentation
      東京都市大学
    • Year and Date
      2015-03-24 – 2015-03-26
    • Related Report
      2014 Research-status Report
  • [Presentation] Anti-slip Control Using Monoarticular Torque in Kicking Phase for Two-link Robot with Biarticular Leg2015

    • Author(s)
      J.Satoh , T.Miyazaki ,K.Ooishi
    • Organizer
      IEE Japan International Workshop on Sensing , Actation, and Motion Control
    • Place of Presentation
      名古屋工業大学
    • Year and Date
      2015-03-09 – 2015-03-10
    • Related Report
      2014 Research-status Report
  • [Presentation] Attitude Control of Quadruped Robot by Using Combination of Mono-and Bi-articular Muscles2015

    • Author(s)
      K. Ueda, Y. Sato, T. Miyazaki, K. Ohishi
    • Organizer
      2015 IEEE International Conference on Mechatronics (ICM)
    • Place of Presentation
      名古屋工業大学
    • Year and Date
      2015-03-06 – 2015-03-08
    • Related Report
      2014 Research-status Report
  • [Presentation] 絶対座標系二関節筋ロボットの蹴り出し時のスリップ抑制制御2014

    • Author(s)
      佐藤情,宮崎敏昌,大石潔
    • Organizer
      電気学会 メカトロニクス制御研究会
    • Place of Presentation
      横浜国立大学
    • Year and Date
      2014-10-11
    • Related Report
      2014 Research-status Report
  • [Presentation] 遊星歯車機構を用いた二関節同時駆動型ロボットアームのトルク伝達損失補償2014

    • Author(s)
      上田圭祐,宮崎敏昌,大石潔
    • Organizer
      平成26年度電気学会産業応用部門大会
    • Place of Presentation
      東京電機大学
    • Year and Date
      2014-08-26 – 2014-08-28
    • Related Report
      2014 Research-status Report
  • [Presentation] 「トルク伝達損失補償を用いた二関節同時駆動型ロボットアームの先端力制御法2014

    • Author(s)
      上田圭祐,宮崎敏昌, 大石潔
    • Organizer
      電気学会 メカトロニクス制御研究会
    • Place of Presentation
      長岡技術科学大学
    • Year and Date
      2014-07-26
    • Related Report
      2014 Research-status Report

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Published: 2014-04-04   Modified: 2018-03-22  

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