2009 Fiscal Year Final Research Report
Continuous-discrete control for Mobility Enhancement of Bipedal Robot
| Project/Area Number |
20760170
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Kyushu University |
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Principal Investigator |
SUGIHARA Tomomichi Kyushu University, 高等研究院, 特別准教授 (70422409)
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| Project Period (FY) |
2008 – 2009
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| Keywords | ロボティクス |
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| Research Abstract |
This study aimed at building a fundamental biped control theory. The goal was to unify continuous reaction force manipulation and discontinuous stepping control into a globally stable control. Maximization of the stabilization performance under an invariant standing condition, continual morphing from a regulator to an oscillator, self-consistent deformation of the supporting region by stepping in accordance with the phase-spatial information, etc., were discussed. We could deduce the discontinuous deformation of the supporting region from the continuous motion control, which was beyond our plan to induce the stable dynamics from aspects of the continuous motion.
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