• Search Research Projects
  • Search Researchers
  • How to Use
  1. Back to project page

2011 Fiscal Year Final Research Report

Fastest Walk Control for Quadruped Robots

Research Project

  • PDF
Project/Area Number 21560270
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionChuo University

Principal Investigator

OSUMI Hisashi  中央大学, 理工学部, 教授 (00203779)

Project Period (FY) 2009 – 2011
Keywordsロボティクス / 四脚歩行ロボット
Research Abstract

The fastest trot walk for quadruped robots controlled by DC servo motors is derived as a time trajectory of the gravity center of the body assuming that the desired path is a horizontal line and the orientation of the body is constant during the walk. In addition, a way of deriving time optimal trajectories between two different velocities is proposed. By using the above results, the fastest walk between two resting states is obtained.

  • Research Products

    (3 results)

All 2011 2010

All Presentation (3 results)

  • [Presentation] 四脚歩行ロボットの最短時間制御-ODEによる3Dシミュレーション-2011

    • Author(s)
      大隅久, 中村亮介, 横濱和也, 竹内恭平
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会
    • Place of Presentation
      岡山
    • Year and Date
      2011-05-28
  • [Presentation] トルクの冗長性を利用した四脚歩行ロボットの最短時間制御2010

    • Author(s)
      竹内恭平, 横濱和也, 大隅久
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2010講演論文集
    • Place of Presentation
      旭川
    • Year and Date
      2010-06-15
  • [Presentation] トルクの冗長性を利用した四脚歩行ロボットの最短時間制御2010

    • Author(s)
      横濱和也, 大隅久, 竹内恭平, 石橋武則
    • Organizer
      第15回ロボティクスシンポジア予
    • Place of Presentation
      吉野
    • Year and Date
      2010-03-16

URL: 

Published: 2013-07-31  

Information User Guide FAQ News Terms of Use Attribution of KAKENHI

Powered by NII kakenhi