片足直立時における二足歩行ロボットの転倒回避動作

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タイトル別名
  • カタアシ チョクリツジ ニオケル ニソク ホコウ ロボット ノ テントウ カイヒ ドウサ
  • Fall Avoidance Action while Standing on One Foot for a Biped Walking Robot

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抄録

Biped walking robots are expected to apply in various fields by improvement of the hardware performance and the cost reduction of the parts. However, the biped walking robot falls over easily. It is necessary that adaptability to unknown and dynamically changing environments. Therefore, an optimization method which automatically corrects motions in real time by using neural network is proposed, where the biped walking robot can avoids falling over. From the result of experiments in upright posture, the validity of proposed method has been confirmed in stationary condition. To realize falling avoidance while walking situation, a correction method is required, where joint angles of robots are always changing while walking. Then, we propose a correction method which modifies joint angles of robot to keep a sole of a robot on the ground as a body tilt demands. The result shows that the proposed method is able to correct motions in order that the robot automatically avoids falling over in situation of one leg.

収録刊行物

  • 研究報告

    研究報告 55 (2), 9-16, 2012-03

    関東学院大学工学会

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