2018 Fiscal Year Final Research Report
On full-swing nonlinear control based on integral viewpoint modeling and its application to large amplitude locomotion
| Project/Area Number |
16H04386
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Control engineering/System engineering
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| Research Institution | Osaka University |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
中西 大輔 松江工業高等専門学校, 電子制御工学科, 助教 (00806086)
甲斐 健也 東京理科大学, 基礎工学部電子応用工学科, 准教授 (60419471)
杉本 靖博 大阪大学, 工学研究科, 准教授 (70402972)
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| Project Period (FY) |
2016-04-01 – 2019-03-31
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| Keywords | 制御工学 / 非線形制御 / 非線形アクチュエータ / ロコモーション |
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| Outline of Final Research Achievements |
In this study, we proposed an integral viewpoint for modeling of nonlinear systems, as opposed to a conventional "differential viewpoint" focusing on infinitesimal change of states for given infinitesimal amount of control inputs. First, we derived some discrete or algebraic relationships between the control parameters and the resulting state changes. We also analyzed fundamental dynamic behavior of nonlinear actuators such as pneumatic actuators or built-in R/C servo motors, and realized large amplitude locomotion including walking, jumping and rolling locomotions.
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| Free Research Field |
制御工学，ロボティクス
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| Academic Significance and Societal Importance of the Research Achievements |
本研究の意義は，制御工学とくに非線形制御の理論面の観点と，ロボット制御などの実用面からの観点との間のギャップを埋めることである．理論面からの歩み寄りとしては第一原理から出発して差分方程式などの代数的関係へと帰着したこと，実用面からの歩み寄りとしては対象の可動範囲にとらわれずに扱える数理モデルを導出したことにある．
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