Development of Master Slave Type Humanoid Rabot

在这项研究中，我们主张要开发一个理想的仿人机器人，就应该开发一种遥操作的仿人机器人。在此基础上提出了主从式仿人机器人的概念。要实现机器人，至少要解决以下三个问题：(1)主从型双足机器人的实现：定义了主从型双足机器人，并讨论了开发主从型双足机器人的方法。(2)机械手和腿协调运动的实现：带有机械手的双足机器人是一个强不稳定系统。考虑到整个系统的稳定性，我们必须为机械手设计一个轨迹跟踪控制器。(3)模式转换：主从式仿人机器人可能有几种模式。在本研究中，我们对上述三个主题进行了研究，取得了以下成果：(1)开发了一种主从式双足机器人，并证明了主从式仿人机器人的可实现性。(2)针对该问题，提出了一种增益调度型非线性控制方法，并通过实验验证了该方法的有效性。(3)结合传统的遥操作技术、助力技术和示教技术，提出了一种新的概念机器人跟随器。

In this research, we claimed that to develop an ideal humanoid robot we should develop a kind of tele-operated humanoid robot. Then we proposed a concept of master-slave-type humanoid robot. To realize the robot, we have to solve the following three problems at least.(1) Realization of a master-slave-type biped robot : We have to define a master-slave-type biped robot and discuss a method for developeing such kind of robot(2) Realization of cooperated motion of manipulator and leg : A biped robot with manipulator is a strongly unstable system. We have to design a trajectory following controller for the manipulator considering stability of the whole system.(3) Mode changing : Master-Slave-Type Humanoid Robot may have several modes. We have to design a smooth mode changing method.In this research, we studied the above three themes and had the following results.(1)We developed a master-Slave-type biped robot, and show a realizability of the master-slave-type humanoid robot.(2)We proposed a gain scheduling type nonlinear control method for the problem and showed the effectiveness of the method through experiments.(3)To unify a traditional tele-operation technology, power assist technology and teaching-by-showing technology, we proposed a new concept Robotic Follower.