Multi-Locomotion Control of Biped Locomotion and Brachiation Robot
Multi-Locomotion Control of Biped Locomotion and Brachiation Robot
复制标题
双足行走和分臂机器人的多运动控制
DOI：
10.1007/978-3-540-36119-0_6
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
H. Kajima
中科院分区：
文献类型：
--
作者：
T. Fukuda;M. Doi;Y. Hasegawa;H. Kajima
本文首先介绍了一种具有高机动性的多运动机器人，然后提出了被动动态自主控制（Passive Dynamic Autonomous Control， PDAC）作为多运动类型的综合控制方法。PDAC是利用机器人固有的动力学特性，实现机器人自然动态运动的一种方法。我们将PDAC应用于两足行走控制。假设矢状和横向运动可以单独分离和控制，每个运动都基于给定的期望步长和周期进行设计。为了稳定行走，设计了基于状态的着陆位置控制。此外，还提出了一种运动之间的耦合方法，使每个运动的周期相同。最后，利用PDAC控制实现了多运动机器人的三维动态行走。
This paper first introduces a multi-locomotion robot with high mobility and then proposes Passive Dynamic Autonomous Control (PDAC) for the comprehensive control method of multiple types of locomotion. PDAC is the method to take advantage of the robot inherent dynamics and to realize natural dynamic motion. We apply PDAC to a biped walk control. On the assumption that the sagittal and lateral motion can be separated and controlled individually, each motion is designed based on the given desired step-length and period. In order to stabilize walking, the landing position control according to the status is designed. In addition, a coupling method between these motions, which makes the period of each motion identical, is proposed. Finally, we show that the multi-locomotion robot realizes the 3-dimensional dynamic walking using the PDAC control.
影响因子：
9.2
作者：
MCGEER, T
通讯作者：
MCGEER, T