High Performance Force and Position Contorl for Walking Robot with Two-Joint Simultaneously Driven Mechanism
| Project/Area Number |
26420225
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Power engineering/Power conversion/Electric machinery
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| Research Institution | Nagaoka University of Technology |
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Principal Investigator |
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| 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)
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| Project Period (FY) |
2014-04-01 – 2017-03-31
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| Project Status |
Completed (Fiscal Year 2016)
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| 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)
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| Keywords | 2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 |
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| 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.
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Report
(4 results)
Research Products
(20 results)
