2013 Fiscal Year Final Research Report
Intellectual walk control of the whole body position, posture, force and moment of multi-legged robot based on virtual dynamics
| Project/Area Number |
23560254
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Dynamics/Control
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| Research Institution | Kogakuin University (2012-2013)
Tokyo Institute of Technology (2011) |
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Principal Investigator |
HUANG Qingjiu 工学院大学, 工学部, 准教授 (20361785)
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| Project Period (FY) |
2011 – 2013
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| Keywords | 多脚ロボット / バーチャル力学モデル / 環境適応型全身位置・姿勢・力・モーメントの制御 / トルク検出機構 |
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| Research Abstract |
In order to realize the purpose of keeping the posture stability of the multi-legged walking robot when it is walking on irregular terrain, we proposed a robust control method based on the virtual suspension model. This method considers the active control input and disturbances from collisions and the slippage between the foot of the robot and the ground, and the dynamic change of the supported weight of the robot. And then, on the basis of designing a suspension model which has virtual springs and dampers in the vertical direction, the directions of the pitch angle and the roll angle, respectively.
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