書誌事項
- タイトル別名
-
- Stabilizing Control for Dynamically Stable Walking of Quadruped Walking Robot.
- 4ソク ホコウ キカイ ノ ドウ ホコウジ ノ シセイ アンテイカ セイギョ
この論文をさがす
抄録
We have proposed the 3D sway compensation trajectory of a vehicle body to realize dynamically stable walking for a quadruped walking vehicle. This method uses the 3D motion of the vehicle body to keep a zero momentum point (ZMP) on a diagonal line between the support legs, and dynamically stable walking by a trot gait is realized on a flat surface. However, for dynamically stable walking on rough terrain, feedback control of the body attitude using equipped sensors is indispensable. In this paper, we consider four stabilizing control methods, that is, a) rotation of the body along the diagonal line between the support legs, b) translation of the body along the perpendicular line between support legs, c) vertical motion of the swing legs, and d) horizontal motion of the swing legs, and compare the stabilizing efficiency for each method through computer simulation. Then, walking control that combines the 3D sway compensation trajectory and the feedback control of the body attitude using translation of the body and vertical motion of the swing legs is applied to the quadruped walking robot, TITAN-VIII, and dynamically stable walking using a generalized trot gait on rough terrain is demonstrated.
収録刊行物
-
- 日本ロボット学会誌
-
日本ロボット学会誌 19 (3), 380-386, 2001
一般社団法人 日本ロボット学会
- Tweet
キーワード
詳細情報 詳細情報について
-
- CRID
- 1390282679703409408
-
- NII論文ID
- 10007545821
-
- NII書誌ID
- AN00141189
-
- ISSN
- 18847145
- 02891824
-
- NDL書誌ID
- 5746818
-
- 本文言語コード
- ja
-
- データソース種別
-
- JaLC
- NDL
- Crossref
- CiNii Articles
-
- 抄録ライセンスフラグ
- 使用不可