Controller Decomposition and Combination Design of Body/Motion Elements based on Orbit Attrator

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  • 軌道アトラクタに基づくコントローラの身体・運動要素への分解と結合による運動創発
  • キドウ アトラクタ ニ モトズク コントローラ ノ シンタイ ウンドウ ヨウソ エ ノ ブンカイ ト ケツゴウ ニ ヨル ウンドウソウハツ

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Abstract

Robot control systems consist of a feedback controller and reference motion pattern. They are designed based on robot dynamics and coupled with each other. So far, we have proposed controller design method based on orbit attractor of nonlinear dynamics. Because the controller yields one motion for one robot, we can assume that the controller includes information of motion and body elements. If those elements can be decomposed from the controller, a new controller will be easily designed by combination of the these elements. In this paper, we propose a motion and body elements design method with Lagrange's method of undetermined multipliers based on robot dynamics, and combination design method of the new controller using the elements. Effectiveness of the proposed method is evaluated by experiments with tapping dance robots.

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