2017 Fiscal Year Final Research Report
Mechanism and control of bipedal fast locomotion robots based on limit cycle reference
| Project/Area Number |
26420171
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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 | Tokyo Institute of Technology |
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Principal Investigator |
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| Project Period (FY) |
2014-04-01 – 2018-03-31
|
| Keywords | 2脚ロボット / イナータ / 揺動質量 |
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| Outline of Final Research Achievements |
For a study of bipedal running robots, we have designed and prepared of construction of a running robot with inerters and wobbling mass. In the design of the robot, SEA(Series Elastic Actuator) mechanism was introduced to overcome uncertainties of environment. A control method for robots with SEAs was also proposed and the validity of the method was confirmed by numerical simulations.
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| Free Research Field |
制御工学
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