Development of Master Slave Type Humanoid Rabot
Grant-in-Aid for Scientific Research (C)
|Allocation Type||Single-year Grants|
Intelligent mechanics/Mechanical systems
|Research Institution||KYOTO UNIVERSITY(1998)|
Osaka Prefecture University(1996-1997)
OSUKA Koichi Kyoto University, Informatics, Associate Professor, 情報学研究科, 助教授 (50191937)
|Project Period (FY)
1996 – 1998
Completed(Fiscal Year 1998)
|Budget Amount *help
¥2,200,000 (Direct Cost : ¥2,200,000)
Fiscal Year 1998 : ¥600,000 (Direct Cost : ¥600,000)
Fiscal Year 1997 : ¥700,000 (Direct Cost : ¥700,000)
Fiscal Year 1996 : ¥900,000 (Direct Cost : ¥900,000)
|Keywords||humanoid robot / master-slave robot / biped robot / ヒューマノイド / 受動的歩行 / マニピュレータ / マスタースレーブシステム / 二足歩行 / 制御系|
In this research, we claimed that to develop an ideal humanoid robot we should develop a kind of tele-operated humanoid robot. Then we proposed a concept of master-slave-type humanoid robot. To realize the robot, we have to solve the following three problems at least.
(1) Realization of a master-slave-type biped robot : We have to define a master-slave-type biped robot and discuss a method for developeing such kind of robot
(2) Realization of cooperated motion of manipulator and leg : A biped robot with manipulator is a strongly unstable system. We have to design a trajectory following controller for the manipulator considering stability of the whole system.
(3) Mode changing : Master-Slave-Type Humanoid Robot may have several modes. We have to design a smooth mode changing method.
In this research, we studied the above three themes and had the following results.
(1)We developed a master-Slave-type biped robot, and show a realizability of the master-slave-type humanoid robot.
(2)We proposed a gain scheduling type nonlinear control method for the problem and showed the effectiveness of the method through experiments.
(3)To unify a traditional tele-operation technology, power assist technology and teaching-by-showing technology, we proposed a new concept Robotic Follower.
Research Output (15results)