慣性アシスト型２足歩行ロボットの安定制御

DOI Web Site

書誌事項

タイトル別名
  • Stability Control of Inertial Assisted Biped Robot

抄録

<p>Proposed inertial assist method may be useful for passive dynamic biped as well as human walking, where they have a natural self-undulation cycle and basic dynamic stability. An assist can enlarge the forward swing motion of the leg and also a sideways undulation of whole body. However, enlarged motion may lower the original stability. This paper tries to make an adjustment of assist timing and strength to produce a stability by a control based on sensing information. Experimental result shows that assist timing adjustment with laser measurement of swing leg height can make up a stability such as a conversion of stepping cycle time. To produce a large assist torque, a control momentum gyro is introduced on the biped. A cycle time and sideways undulation span is enlarged by gyro system controlled by laser measurement.</p>

収録刊行物

キーワード

詳細情報 詳細情報について

問題の指摘

ページトップへ