著者

原田 研介 梶田 秀司 金広 文男 藤原 清司 金子 健二 横井 一仁 比留川 博久

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

梶田 秀司 小林 彬

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.23, no.3, pp.281-287, 1987-03-30 (Released:2009-03-27)

参考文献数

3

被引用文献数

8 22

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In a study of the dynamic walk of a biped robot, it is required to extract the dominant dynamics of the walking machine by reducing the dimension of the motion equation in some way.As the dominant dynamics, the following properties are shown about inverted pendulum with expandable leg when an input force is provided to balance its vertical component with its own weight.1. The center of gravity moves horizontally.2. The horizontal movement of the center of gravity can be expressed by linear differential equation.It is confirmed that the same phenomenon is shown both at the inverted pendulum with torso both at the inverted pendulum made by 5 links. The orbit on which the center of gravity moves is named, the “Potential Energy Conserving Orbit.”Based on these properties, control laws were formulated for walk initiation, walk continuation, and walk termination. The walking speed is controlled through the leg exchanging condition. The possibility of dynamic walk of a biped robot has been confirmed by computer simulation. The manufactured walking machine has 4 DC motors in its torso, and has ostrichlike legs which have parallel link structure.Using this machine, we realized 5 stepsof dynamic walk, including walk initiation.

著者

梶田 秀司

出版者

システム制御情報学会

雑誌

システム/制御/情報 : システム制御情報学会誌 (ISSN:09161600)

巻号頁・発行日

vol.45, no.10, pp.608-609, 2001-10-15

著者

梶田 秀司 金広 文男 金子 健二 藤原 清司 原田 研介 横井 一仁 比留川 博久

出版者

日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.22, no.6, pp.772-779, 2004-09-15 (Released:2010-08-25)

参考文献数

23

被引用文献数

1 2

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We introduce a method to generate whole body motion of a humanoid robot such that the resulted total linear/angular momenta become specified values. First, we derive a linear equation which gives the total momentum of a robot from its physical parameters, the base link speed and the joint speeds. Constraints between the legs and the environment are also considered. The whole body motion is calculated from a given momentum reference by using a pseudoinverse of the inertia matrix. As examples, we generated kicking and walking motions and tested on an actual humanoid robot HRP-2. This method, the Resolved Momentum Control, gives us a unified framework to generate various maneuver of humanoid robots.