Differential-Inclusion-Based Implementation of Force Control Schemes for Realizing Whole-Body Maneuverable Power-Magnifying Robots

2014 Fiscal Year Final Research Report

• Project/Area Number: 24360098
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Partial Multi-year Fund
• Section: 一般
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Kyushu University
• Principal Investigator: KIKUUWE Ryo 九州大学, 工学(系)研究科(研究院), 准教授 (90362326)
• Co-Investigator(Kenkyū-buntansha): KANAOKA Katsuya 立命館大学, 総合科学技術研究機構, チェアプロフェッサー (90360247)
• Project Period (FY): 2012-04-01 – 2015-03-31
• Keywords: マスタスレーブシステム / 微分包含式 / 力制御

Outline of Final Research Achievements

It has been a classical approach to treat the force as the controlled variables and the manipulated variables in the field of control engineering studies in academia. Techniques developed based on such an approach, however, are sensitive to hardware imperfections such as compliance, friction, dead time, noise, and torque saturation. This project aimed to combine a new family of control/estimation theories based on discontinuous differential equations (differential inclusions) and classical studies of force control in the academia to construct a new family of force control techniques that are robust against the restrictions of real hardware. In particular, setting the realization of heavy-duty manual control robots as a long-term goal, this project has developed a variety of elemental technology for control, signal processing and mechanism design.

Free Research Field

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