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1993 Fiscal Year Final Research Report Summary

A Study on Intelligent Dynamic Walking Control of Biped Robots Based on Sensor Information

Research Project

Project/Area Number 04650214
Research Category

Grant-in-Aid for General Scientific Research (C)

Allocation TypeSingle-year Grants
Research Field 機械力学・制御工学
Research InstitutionTHE UNIVERSITY OF ELECTRO-COMMUNUCATIONS

Principal Investigator

FURUSHO Juniji  The University of Electro-Communications, Department of Electro-communications, Professor, 電気通信学部, 教授 (70107134)

Project Period (FY) 1992 – 1993
KeywordsRobotics / Walking Robot / Biped Locomotion / Intelligent Control / Force Control / Compliance Control
Research Abstract

This study study aims at realizing 3D dynamic biped locomotion in a robot. In human dynamic walking, a stable limit-cycle is formed as a whole by repeating the unstable motions as an inverted pendulum. In this study, a hierarchical control strategy in which the information from many sensors was utilized was proposed, and its effectiveness was confirmed by experiments under the circumstamces with stairs using a biped robot.
(1)The optimal torque distribution under the circumstance with stairs was decided by using the dynamic equations of motion during the double support phase. In this calculation, the summation of the joint torques is minimized within the limits in which the slippage of the sole and like do not happen. This torque distribution is stored in the control computer, and is used in the walking experiments.
(2)The optimal variation of the angular momentum of the robot system under the circumstance with stairs was also derived from the dynamic equations of motion.
(3)The walking experiments on the continuous ascending stairs were conducted by using the above torque distribution and the optimal variation of the angular momentum.

  • Research Products

    (13 results)

All Other

All Publications (13 results)

  • [Publications] A.Sano: "Basic Study of Quadruped Locomotion System with Ability to Adjust Compliance" Journal of Robotics & Mechatronics. Vol.5. 561-569 (1993)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] A.Sano: "Evaluation of a Reduced Order Model for Quadruped System and Proposition of a Walking Control Method Using Quasi-Angular-Momentum" Journal of Robotics and Mechatronics. Vol.5. 582-584 (1993)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] J.Furusho: "Multivariable Root Loci of Control Systems of Robot Manipulators with Flexible Driving Systems" JSME International Journal. Vol.35. 65-73 (1992)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 佐野明人: "歩行シミュレータを用いたペース歩行の3次元動歩行解析" 日本機械学会論文集C編. 58巻. 757-765 (1992)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 古莊純次: "関節速度制御を基礎としたロボットアームの力制御" 日本機械学会論文集C編. 58巻. 174-181 (1992)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 佐野明人: "離散時間モデルに基づく4足ロボットのペース歩行" 日本ロボット学会誌. 9巻. 865-876 (1991)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] J.Furusho(共同執筆): "Adaptability of Human Gait(Implication for the Control of Locomotion)" North-Holland, 456(27) (1991)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] A.Sano, J.Furusho and A.Hashiguchi: "Basic Study of Quadruped Locomotion System with Ability to Adjust Compliance" Journal of Robotics and Mechatronics. Vol.5, No.6. 561-569 (1993)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] A.Sano, J.Furusho: "Evaluation of a Reduced Order Model for Quadruped System and Proposition of a Walking Control Method Using Quasi-Angular-Momentum" Journal of Robotics and Mechatronics. Vol.5, No.6. 582-584 (1993)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] A.Sano, J.Furusho and W.Yabuki: "Biped Walking on Floor and Stairs Based on Torque Distribution" Proc.of the IFToMM-jc International Symposium on Theory of Machines and Mechanisms. Vol.2. 663-668 (1992)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] J.Furusho, H.Nagao and M.Naruse: "Multivariable Root Loci of Robot manipulators with Flexible Driving Systems" JSME International Journal Ser.III. Vol.35, No.1. (1992)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] A.Sano, J.Furusho and S.Ozeki: "A Pace Gait of Quadruped Robot Based on the Control of Walking Cycle Using a Discete-time Model" J.of Robotics Society of Japan. Vol.9, No.7. 865-876 (1991)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] J.Furusho and A.Sano(Coauthors): "Adaptability of Human Gait (Implication for the Control of Locomotion)" North Holland. 277-303 (1991)

    • Description
      「研究成果報告書概要(欧文)」より

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Published: 1995-03-27  

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