Posture Control of Six-Legged Robot in Consideration of Actuator Dynamics(Mechanical Systems)
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- UCHIDA Hiroaki
- Department of Mechanical Engineering, Kisarazu National College of Technology
Bibliographic Information
- Other Title
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- アクチュエータのダイナミクスを考慮した6脚歩行ロボットの姿勢制御(機械力学,計測,自動制御)
- アクチュエータのダイナミクスを考慮した6脚歩行ロボットの姿勢制御
- アクチュエータ ノ ダイナミクス オ コウリョシタ 6キャク ホコウ ロボット ノ シセイ セイギョ
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Abstract
It is desirable to establish a posture control method considering the dynamics of the actuator. In the present study, as a model considering the dynamics of the actuator, we constructed a mathematical model in which inputs were the driving torque of the thigh links in the supporting legs and the outputs were the height of the body, the pitching angle, and the rolling angle. The optimal servo control system was designed for this model. As a result of 3D simulation, the proposed control method showed a good following performance to the periodical references of the pitching and rolling angle compared with the control method not considering actuator dynamics. And, in the case of following the periodical references of the body posture, experimental results were almost coincident with 3D simulation results.
Journal
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- TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
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TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 76 (772), 3680-3688, 2010
The Japan Society of Mechanical Engineers
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Keywords
Details 詳細情報について
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- CRID
- 1390001206387708800
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- NII Article ID
- 110008006882
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- NII Book ID
- AN00187463
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- ISSN
- 18848354
- 03875024
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- NDL BIB ID
- 10941229
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed