Fastest Walk Control for Quadruped Robots
| Project/Area Number |
21560270
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Chuo University |
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Principal Investigator |
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| Project Period (FY) |
2009 – 2011
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| Project Status |
Completed (Fiscal Year 2011)
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| Budget Amount *help |
¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000)
Fiscal Year 2011: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2010: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2009: ¥3,120,000 (Direct Cost: ¥2,400,000、Indirect Cost: ¥720,000)
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| Keywords | ロボティクス / 四脚歩行ロボット / 四足ロボット / 歩行ロボット / 最短時間制御 / トロット歩容 / 状態遷移 / 動力学 / トルク制御 / 冗長トルク / 冗長自由度 / 運動学 |
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| Research Abstract |
The fastest trot walk for quadruped robots controlled by DC servo motors is derived as a time trajectory of the gravity center of the body assuming that the desired path is a horizontal line and the orientation of the body is constant during the walk. In addition, a way of deriving time optimal trajectories between two different velocities is proposed. By using the above results, the fastest walk between two resting states is obtained.
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Report
(4 results)
Research Products
(6 results)
