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Robust l∞ Preview Control and its Application to Biped Walking Pattern Generation of Humanoid Robots

Research Project

Project/Area Number 19760287
Research Category

Grant-in-Aid for Young Scientists (B)

Allocation TypeSingle-year Grants
Research Field Control engineering
Research InstitutionKumamoto University

Principal Investigator

KUNIMATSU Sadaaki  Kumamoto University, 大学院・自然科学研究科, 助教 (30379309)

Project Period (FY) 2007 – 2008
Project Status Completed (Fiscal Year 2008)
Budget Amount *help
¥3,320,000 (Direct Cost: ¥2,900,000、Indirect Cost: ¥420,000)
Fiscal Year 2008: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Fiscal Year 2007: ¥1,500,000 (Direct Cost: ¥1,500,000)
Keywords1∞ノルム / 歩容生成 / ヒューマノイドロボット / 制御工学
Research Abstract

ヒューマノイドロボット(人型2足歩行ロボット)が歩行している際には,Zero Moment Point(ZMP)が支持多角形(片足支持の際は足裏領域)の範囲内に存在していることが知られている.したがって,このZMPが支持多角形内に存在できるような重心軌道を作成する必要がある.しかし,従来は支持多角形内に留まることを陽に考慮した重心軌道の生成方法は開発されていなかった.そこで本研究では,誤差の最大値を直接評価できる予見制御を提案し,それを用いて理論的に転倒防止を保証可能な重心軌道生成法を開発した.

Report

(3 results)
  • 2008 Annual Research Report   Final Research Report ( PDF )
  • 2007 Annual Research Report
  • Research Products

    (8 results)

All 2009 2008

All Journal Article (2 results) (of which Peer Reviewed: 2 results) Presentation (6 results)

  • [Journal Article] Robust l-infinity Preview Control for Biped Walking Pattern Generation2009

    • Author(s)
      Sadaaki Kunimatsu, Takahiro Fukuda, Makoto Kumon and Mitsuaki Ishitobi
    • Journal Title

      Artificial Life and Robotics Vol.14(掲載決定)

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] Robust 1-infinity Preview Control for Biped Walking Pattern Generation2009

    • Author(s)
      Sadaaki Kunimatsu
    • Journal Title

      Artificial Life and Robotics 14(掲載決定)

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Presentation] Robust 1-infinity Preview Control for Biped Walking Pattern Generation2009

    • Author(s)
      Sadaaki Kunimatsu, Takahiro Fukuda, Makoto Kumon and Mitsuaki Ishitobi
    • Organizer
      The Fourteenth International Symposium on Artificial Life and Robotics 2009
    • Place of Presentation
      大分
    • Year and Date
      2009-02-07
    • Related Report
      2008 Annual Research Report 2008 Final Research Report
  • [Presentation] Mixed 12/1-infinity Preview Control for Biped Walking Pattern Generation2009

    • Author(s)
      Sadaaki Kunimatsu, Takahiro Fukuda, Makoto Kumon and Mitsuaki Ishitobi
    • Organizer
      SICE Annual Conference 2009
    • Place of Presentation
      福岡
    • Related Report
      2008 Final Research Report
  • [Presentation] 1∞予見制御を用いた2足歩容生成2008

    • Author(s)
      國松禎明,福田敬大,公文誠,石飛光章
    • Organizer
      第27回計測自動制御学会九州支部学術講演会
    • Place of Presentation
      沖縄
    • Year and Date
      2008-11-29
    • Related Report
      2008 Annual Research Report 2008 Final Research Report
  • [Presentation] 1-infinity Preview Control for Biped Walking Pattern Generation2008

    • Author(s)
      Sadaaki Kunimatsu, Takahiro Fukuda, Makoto Kumon and Mitsuaki Ishitobi
    • Organizer
      SICE Annual Conference 2008
    • Place of Presentation
      東京
    • Year and Date
      2008-08-21
    • Related Report
      2008 Annual Research Report 2008 Final Research Report
  • [Presentation] 1∞制御を用いた2足歩行ロボットの歩行パターン生成2008

    • Author(s)
      福田敬大,國松禎明,石飛光章
    • Organizer
      日本機械学会九州支部九州学生会第39回学生員卒業研究発表講演会
    • Place of Presentation
      福岡
    • Year and Date
      2008-03-18
    • Related Report
      2008 Final Research Report
  • [Presentation] 1∞制御を用いた2足歩行ロボットの歩行パターン生成2008

    • Author(s)
      福田敬大
    • Organizer
      日本機械学会 九州支部九州学生会 第39回学生員卒業研究発表講演会
    • Place of Presentation
      福岡
    • Year and Date
      2008-03-18
    • Related Report
      2007 Annual Research Report

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Published: 2007-04-01   Modified: 2016-04-21  

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