2010 Fiscal Year Final Research Report
Realization of humanoid type multi-degree of freedom jumping robot
| Project/Area Number |
19360110
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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 |
Dynamics/Control
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| Research Institution | Toyota Technological Institute |
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Principal Investigator |
NARIKIYO Tatsuo Toyota Technological Institute, 大学院・工学研究科, 教授 (70231496)
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| Co-Investigator(Kenkyū-buntansha) |
KAWANISHI Michihiro 豊田工業大学, 大学院・工学研究科, 准教授 (00283870)
FUWA Katsuhiko 大同大学, 情報学部, 准教授 (70324481)
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| Project Period (FY) |
2007 – 2010
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| Keywords | 跳躍ロボット / 4脚走行ロボット / 非ホロノミックシステム |
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| Research Abstract |
In this study, we first designed and made a monopod robot. Since this robot is 3 DOF and serial link robot, there is a redundancy in the flying phase. We synthesized output zeroing control which regulates the error between desired velocity of center of gravity and real velocity. By numerical simulation we demonstrate the usefulness of this control law. In order to apply this control law we developed the control system of the monopod robot. This 3DOF monopod robot is 45cm height and has servo amp on the torso. Total weight is 10.8Kg. Signal processing of this experimental system is carried out by DSP with 100μs (100kHz) sampling. In order to overcome the underactuated and nonholonomic control problems, we developed the passive velocity field control. Finally we attained 4 cm height jumping of the monopod robot.
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[Presentation] Real μ-Analysis by Stability Feeler2009
Author(s)
Tadasuke Matsuda, Michihiro Kawanishi, Tatsuo Narikiyo
Organizer
Proceedings of the Twelfth IASTED International Conference on Intelligent Systems and Control(235/242)
Place of Presentation
Cambridge, MA, USA
Year and Date
20091102-20091104
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