Stability enhancement method for an existing bipedal robot by an external stopper device that does not require coordination with the internal robot controller

2017 Fiscal Year Final Research Report

• Project/Area Number: 15K05903
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Future University-Hakodate
• Principal Investigator: Mikami Sadayoshi 公立はこだて未来大学, システム情報科学部, 教授 (50229655)
• Co-Investigator(Kenkyū-buntansha): 兵頭 和幸 福岡工業大学, 情報工学部, 助教 (90550517)
• Project Period (FY): 2015-04-01 – 2018-03-31
• Keywords: 歩行ロボット / 2足歩行 / 歩行制御 / 安定性 / 受動歩行 / 靴

Outline of Final Research Achievements

A stability enhancing device for a humanoid robot is proposed which does not rely on the robot's internal controller. The device is a simple stopper attached on a shoe and having a certain hight over floor, which is controlled its height by a motor and latched at the proper height. When a stance leg excessively inclines over a stable range, the stopper touches on the ground and the angular velocity is reduced by the effect of supporting point shift. By the experiments conducted on a small humanoid robot and human shoes, the stablization effect was confirmed.

Free Research Field

知能機械学，機械工学，人工知能