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Research on smooth and energy-saving walk of biped robot

双足机器人平稳节能行走研究

基本信息

批准号：
15500102
负责人：
YONEDA Kan
金额：
$ 1.98万
依托单位：
Tokyo Institute of Technology
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2003
资助国家：
日本
起止时间：
2003 至 2005
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-15500102/
关键词：
Biped robot Dynamic walk Walking control Zero moment poing ロボット 2足歩行共振自励振動不整地

项目摘要

This research has done to study an energy saving walk of biped robot. Fundamental theoretical considerations and several experiments have done.As for the theoretical considerations, how much energy is required to keep mechanically harmonized walk is found out. It is a function of a stance of right/left foot and a height of the center of gravity.As for the experimental study, planar biped robot is manufactured. It has air cylinders to produce a kicking motion. Air flow is controlled by adjusting an ON/OFF timing of valve based on an information of a body inclination measured by a gyroscope. This control can realize a harmonized walk to keep a self oscillation of the mechanism. An air supply synchronized a touchdown could not make a good kick. Thus, a new method is developed to supply air before the touchdown and automatically produce a kick synchronized with a reduction of the foot force in a self mechanical oscillation.An energy consumption of the walk is confirmed as small as expected … More . For a maximum estimation, the experimental value is about twice as the theoretical value. This estimation is based on a maximum limit, because a real output is varied on the condition of the walk. A concrete value is 1.9 watt maximum for a 0.7sec/step walk of 10kg robot.A control to negotiate a height variation of the terrain is also realized. An open interval of the valve is adjusted to control a kick force of the cylinder and stabilize a self oscillating motion of the robot. A principle of the concrete algorithm is follows : Using a signal of touchdown and inclination by a tactile switch and gyroscope, a height variation is calculated. A feed-forward control to adjust valve open interval by a proportional value of the height variation is done. A feedback control to adjust a valve open interval by a proportional value of the deviation of cycle time of left and right steps is also carried out.By these control algorithms, the experimental model can negotiate a 20mm height variation for 300mm stance of left/right foot. Less

本课题研究的是机器人的节能行走。在理论方面，研究了保持机械协调行走所需的能量。在实验研究方面，制作了平面仿人机器人。它有气缸来产生踢腿动作。通过基于由陀螺仪测量的主体倾斜的信息调节阀的开/关定时来控制气流。这种控制可以实现协调行走，以保持机构的自振荡。与达阵同步的空气供应无法产生好的踢球效果。因此，开发了一种新的方法，在触地之前提供空气，并在自身机械振荡中自动产生与脚力减小同步的踢脚，步行的能量消耗被确认为与预期的一样小 ...更多信息 .对于最大估计，实验值约为理论值的两倍。该估计基于最大限度，因为真实的输出随行走的条件而变化。最大功率为1.9瓦，步行0.7秒/步，10公斤的机器人。还实现了对地形高度变化的控制。调节阀的打开间隔以控制气缸的反冲力并稳定机器人的自振荡运动。具体算法的原理如下：使用触摸开关和陀螺仪的触地和倾斜信号，计算高度变化。通过高度变化的比例值来调节阀打开间隔的前馈控制被完成。同时，采用反馈控制算法，通过调节左右步周期时间偏差的比例值来调节阀门开启间隔，使实验模型在左右脚站立300 mm时，可以通过20 mm的高度变化。少