著者

鈴木 悠平 大隅 久

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集 (ISSN:21879761)

巻号頁・発行日

vol.83, no.849, pp.17-00017-17-00017, 2017 (Released:2017-05-25)

参考文献数

11

被引用文献数

1

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A design method of time-optimal trajectory of quadruped robots from an initial position to a target position is developed for trot gait. The designed trajectory consists of three phases, acceleration phase, steady walk phase and deceleration phase. The time-optimal trajectory is designed in each phase and they are integrated so that the robot reaches the target position. Since the fastest walk trajectory in steady walk has already been obtained in our previous research, the time-optimal trajectories in the acceleration and deceleration phases are designed in a similar way to the previous study. First, all the possible trajectories in the search space with which the velocity of the robot reaches the previously obtained maximum velocity are designed in the state space of the robot. Next, they are checked whether the physical constraints and the constraint imposed by swinging legs are satisfied or not. Then the trajectory with the shortest time to reach the maximum velocity is chosen as the time-optimal trajectory among the trajectories satisfying all the constraints. The obtained time-optimal trajectories are tested by a quadruped walking robot SONY ERS-7 and the effectiveness of the developed method of designing time-optimal trajectory is verified.

著者

大隅 久

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.73, no.10, pp.1123-1126, 2007 (Released:2009-12-28)

参考文献数

2

被引用文献数

3

著者

大隅 久

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.63, no.12, pp.1659-1662, 1997-12-05 (Released:2009-06-30)

参考文献数

17

被引用文献数

1

著者

米田 完 坪内 孝司 大隅 久

出版者

一般社団法人日本機械学会

雑誌

日本機械学會誌 (ISSN:00214728)

巻号頁・発行日

vol.111, no.1074, 2008-05-05

著者

上田 隆一 新井 民夫 浅沼 和範 梅田 和昇 大隅 久

出版者

The Robotics Society of Japan

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.23, no.4, pp.466-473, 2005-05-15 (Released:2010-08-25)

参考文献数

18

被引用文献数

4 8

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Though Monte Carlo localization is a popular method for mobile robot localization, it requires a method for recovery of large estimation error in itself. In this paper, a recovery method, which is named an expansion resetting method, is newly proposed. The combination of the expansion resetting method and the sensor resetting method, which is a typical resetting method, is also proposed. We then compared our methods and others in a simulated RoboCup environment. Typical accidents for mobile robots were produced in the simulator during trials. We could verify that the expansion resetting method was effective for recovery from small irregular changes of a robot's pose, and that the combination method could deal with both large and small irregular changes.

著者

太田 順 武衛 康彦 新井 民夫 大隅 久 陶山 毅一

出版者

The Robotics Society of Japan

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.14, no.2, pp.263-270, 1996-03-15

被引用文献数

24 24

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A coordinated control method for two mobile robots without explicit communication is presented in this paper. Concretely, transferring control by cooperation of two robots is realized from the viewpoints of mechanical design and of control system design. In the mechanical design, compliance mechanism with 3 degrees of freedom is added on one of the robots in order to avoid extreme inner forces between the robots. In the control system design, leader-follower method is adopted. "Virtual Impedance Method" is used for controlling the follower robot. A deadlock problem, where a robot stops at some other positions from a target position of the robot, is solved by transforming lateral virtual forces to virtual moments. Effectiveness of the proposed method is verified by experimental results. The proposed method is applicable to multiple mobile robot system by increasing the number of followers.