2003 Fiscal Year Final Research Report Summary
Dynamics Based Control of Humanoid Robot
| Project/Area Number |
13305029
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| Research Category |
Grant-in-Aid for Scientific Research (A)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Control engineering
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| Research Institution | Kobe University (2003)
Kyoto University (2001-2002) |
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Principal Investigator |
OSUKA Koichi Kobe University, Faculty of Engineering, Professor, 工学部, 教授 (50191937)
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| Co-Investigator(Kenkyū-buntansha) |
ZHENG Xin-zhi Advanced Software Technology & Mechatronics Research Institute of Kyoto, Mechatronics Lab., Chief researcher, メカトロニクス研究室, 室長(研究職) (10262966)
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| Project Period (FY) |
2001 – 2003
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| Keywords | Quasi-passive walking / Delayed feedback control / Poincare map / Continuous type Delayed feedback control |
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| Research Abstract |
In this research, we consider the walking control from the following point of view. That is, the essential principle in walking control is a passive dynamic walking. Therefore, we have been researching a Quasi-passive walking by using a quasi-passive walking robot which is set on a slight slope. Concretely speaking, we developed a walking robot whose joint consists of direct-drive motor. The following are the results.
(1)We designed and develop a biped robot PB-I. This robot has two legs and the each leg has tree joints. Direct drive motor is used for the joint actuator.
(2)We obtained a dynamical model of PB-I. And we analyzed the robot as a non-linear dynamical system. Then, we researched a realizability of passive walking of the robot and a stability analysis.
(3)We propose a control law for Quasi-passive walking. At that time, a kind of learning control method was proposed.
(4)We focused on a impact point in walking process, and using a Poincare map, we tried to understand the structure of the map.
(5)We proposed a kind of continuous type delayed feedback control.
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