Controller of legged mobile robot
Controller of legged mobile robot
复制标题
足式移动机器人控制器
DOI：
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发表时间：
2003
期刊：
影响因子：
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通讯作者：
요시이케다카히데
中科院分区：
文献类型：
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作者：
다케나카도루;마츠모토다카시;요시이케다카히데
机器人1的身体姿势基于实际状态量与目标状态量等的偏差、目标相位反作用力等，在顺序确定的（目标相位反作用力的力矩）的操作的修改量的同时，使用校正的操作量和动态模型机器人（1）依次确定移动的目标。在这种情况下，平移力水平分量，例如用于限定机器人1和地板之间的摩擦力的摩擦元件，作为限制对象量，并且设置限制对象量的允许范围。当确定目标运动时，限制对象以允许范围的量进入，并且还将反作用力瞄准通过修改操作量的修改而获得的反作用力，在动力学模型和重力平衡上产生惯性力对机器人1的运动的合力，其确定期望的运动以被背叛。目标移动是反作用力的力矩，并且通过调节多个不同移动模式中的每一个来确定平移反作用力的发生率。机器人、上身姿势角和力矩反力、平移力水平分量、动力学模型、容许范围设定装置、目标瞬时值确定装置、控制器
Body posture of the robot 1 based on the deviation of the actual state quantity and the target state quantity of each of the like, the target phase reaction, while the modification amount of operation of the (target phase reaction force's moment) determined sequentially, using the corrected operation amount and the dynamic model robot ( 1) successively determines the target of the movement. In this case, the translational force horizontal components, such as friction elements for defining a friction force between the robot 1 and the floor as the restriction object amounts, and sets the permissible range of the amount that the restriction object. When determining the target movement, the restriction object enters in the amount of the allowable range, and also aim the reaction force on the reaction force obtained by modification by the modifying operation amount, the resultant force of the inertial force to the motion of the robot 1 is generated on the dynamic model and the gravity balance It determines the desired motion to the betrayed. Target movement, is the reaction force's moment and the occurrence rate of the translational reaction force is determined by adjusting each of the plurality of different movement modes. Robot, the upper body posture angle and the moment reaction force, the translational force horizontal components, dynamic model, the allowable range setting means, target instantaneous value determining means, the controller