著者
梶田 秀司 谷 和男
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.31, no.10, pp.1705-1714, 1995-10-31 (Released:2009-03-27)
参考文献数
17
被引用文献数
7 15

An experimental study of a biped robot is presented. A new scheme named “Linear Inverted Pendulum Mode” is utilized for controlling biped walking on rugged terrain. We developed a 6 d. o. f. biped robot “Meltran II” which has light weight legs and walks in a two dimensional vertical plane. After discussing the control systems for the support leg and the swing leg, we applied these control laws to the real robot and obtained following results.1. Support phase dynamics of the biped robot under the proposed control law can be well represented by a linear model with a viscous term.2. An adequate vertical speed at touchdown and a short duration of two-leg support after touchdown help smooth support leg exchange with a small loss of momentum.Based on these results, a whole biped control system was implemented. In our experiment, biped walking with a half step period of 0.5-1.0s and a half stride of 10-14cm was realized on a flat floor. The maximum walking speed was 24cm/s. Our robot also walked over a box of 3.5cm height at a speed of 20cm/s.

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外部データベース (DOI)

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倒立振り子は二足歩行に使えますよねって思って検索したら 機械技術研究所の梶田秀司先生の論文が出てきました。https://t.co/JHBpy2XXbN
振り子のダイナミクスに沿うように操作する、というところから思い出すのは、@s_kajita 先生の、MeltranIIの線形倒立振子モード https://t.co/6YDdDWUGJU 。直接の理論的関連性はないと思うけど。
とりいそ2 線形倒立振子の基礎は5章あたりを… https://t.co/0XZ0l6VqOB

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