成果報告書詳細
管理番号20160000000059
タイトル*平成26年度中間年報 環境・医療分野の国際研究開発・実証プロジェクト ロボット分野の国際研究開発・実証事業 災害対応ロボット・オープンプラットフォームの研究開発
公開日2016/3/23
報告書年度2015 - 2015
委託先名国立大学法人大阪大学
プロジェクト番号P12001
部署名ロボット・機械システム部
和文要約
英文要約Summary of Research Achievements for the Fiscal Year 2014.
Tomomichi Sugihara, Associate Professor, Osaka University

Osaka university group aims at
The mission of the group is to upgrade the locomotion and manipulation abilities of a humanoid robot, and to implement a control software-hardware system on a real robot. It has tackled the following three issues this year.

1-1 Horizontally omnidirectional bipedal walking control
The group presents a biped controller which enables the horizontally omnidirectional walking, namely, the longitudinal, frontal and turning walks. It is different from the existing methods at the point that it does not rely on the time-driven referential motion trajectory and thus can cope with sudden changes of steering commands and perturbations. It has been implemented on a software module which is available on real robot control systems. Some theoretical mistakes have also been corrected.
Apart from the above control, a landing-point-guided biped walk control was also developed(yet published). A robot will be able to walk over steppingstones with the controller besides it can still cope with sudden perturbations.

1-2 Walking over rough terrains
The previous walking controller is developed based on a simplified dynamics model which is only equipped with the center of mass and feet points. Particularly, the contact between the feet and the ground is supposed to be ideal. In practice, the contact condition largely varies during the motion due to even small deviations of the state.
The controller developed so far first decides the desired ground reaction force and translates it to the equivalent desired acceleration of the center of mass. The error of the reaction force was not taken into account in the motor control. Then, a technique to compensate the error by correcting the desired acceleration of the center of mass.
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