Motion generation and control of a brachiating robot under unknown dynamic environment

2022 Fiscal Year Final Research Report

• Project/Area Number: 20K04405
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Review Section: Basic Section 20020:Robotics and intelligent system-related
• Research Institution: Meijo University
• Principal Investigator: Nakanishi Jun 名城大学, 理工学部, 准教授 (70324457)
• Project Period (FY): 2020-04-01 – 2023-03-31
• Keywords: ロボット / 運動制御 / ブラキエーション

Outline of Final Research Achievements

In this study, our aim is to develop a motion control framework for robot brachiation considering the properties of the system and the environment. We introduced a dynamics-based approach to extending the target dynamics method to make use of the mechanical properties of the environment. We explored a method to estimate unknown properties of an elastic handhold. Furthermore, from a nonlinear optimal control viewpoint, we developed a model predictive control-based method for robot brachiation with temporal optimization. These results provided us with insights into dynamic motion generation of a robot from the viewpoints of dynamical systems and nonlinear optimal control.

Free Research Field

ロボティクス

Academic Significance and Societal Importance of the Research Achievements

これまでにダイナミックな運動を行うロボットの運動制御に関する研究が進められてきており、近年特に歩行・走行など巧みな動作を行うロボットの開発が行われてきている。本研究はこのようなロボットの運動制御に関連する研究であり、力学系および非線形最適制御の観点から様々な環境下におけるロボットの制御への寄与が期待できると考えられる。