2016 Fiscal Year Final Research Report
High Performance Force and Position Contorl for Walking Robot with Two-Joint Simultaneously Driven Mechanism
| Project/Area Number |
26420225
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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 |
Power engineering/Power conversion/Electric machinery
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| Research Institution | Nagaoka University of Technology |
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Principal Investigator |
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| Project Period (FY) |
2014-04-01 – 2017-03-31
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| Keywords | 2関節筋 / 遊星歯車機構 / レッグロボット |
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| Outline of Final Research Achievements |
The leg walking mechanism is expected to be applied as a moving means of an auxiliary robot which operates in the human living environment. In this study, we newly developed a leg mechanism model using a two-joint antagonistic driving rotary machine, constructed a force / position simultaneous control system such as kicking leg motion, landing motion and the like more precisely, and dynamics simulation and experiment To evaluate the possibility of the proposed method and to establish its effectiveness. In the kicking motion, both the slip suppression and the kicking leg force control were compatible with each other, taking advantage of the operating characteristics of the 2 joint antagonistic driving rotary machine. Moreover, at the time of landing motion, we propose a position force simultaneous control method considering the dynamics necessary for free motion control of the main body while supporting its own weight, and confirmed its effectiveness by experiment.
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| Free Research Field |
工学
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