Development of 6-degrees-freedom motion control method for a six-legged robot based on adjusting to walking environment

2015 Fiscal Year Final Research Report

• Project/Area Number: 25420200
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Dynamics/Control
• Research Institution: Kisarazu National College of Technology
• Principal Investigator: UCHIDA Hiroaki 木更津工業高等専門学校, その他部局等, 教授 (00223561)
• Project Period (FY): 2013-04-01 – 2016-03-31
• Keywords: 6脚ロボット / 胴体6自由度制御 / 歩行方向制御 / 姿勢制御 / 軌道追従制御 / 不整地歩行

Outline of Final Research Achievements

The development of the six-degrees-of-freedom (body position of the center of gravity x, y, yaw angle, body height, pitch angle, roll angle) control method for a six-legged robot was carried out. The walking directional control method as a control method for the x-, y-directions and yaw angle was applied, and the posture control method as a control method for the body height, pitching angle and the rolling angle was applied. Both feedback (FB) control were applied to the support legs, and we aimed to improve the following performance for the target trajectory. Effectiveness of the proposed 6-degree-of-freedom control method was verified by 3D simulations using the 3DCAD model of the six-legged robot in the case that the six-legged robot overcame the bump of height level 50mm.

Free Research Field

ロボット工学，制御工学