Basic Research on the Humanoid Robot for the Daily Life Environment

主要完成了以下五个方面的工作：(1)利用新研制的ZMP传感器和MARI-2两足步行机器人实现了两足步行的稳定动态。采用柔性导电橡胶(FSR)作为压力传感器，在ZMP传感器上安装了4个压力传感器，分别安装在每只脚上。(2)在MARI-2机器人上实现了视觉行走和视觉伺服的混合控制，使仿人机器人能够与人类的生活环境保持一致。机器人跟踪穿着红色衬衫的人，向前、向左、向右走，然后停下来。当距离超过一定水平时，行走速度增加，当距离低于设计值时，行走速度停止。通过改变组件位置来控制眼睛(摄像头)位置的高度。(3)利用Mari-1两足步行机器人进行了快速行走实验。实现了1.4公里/小时的速度。在目前的设施中，手臂的摆动是不够的。进一步的速度m…通过仿真分析，如果提高执行机构的功率，控制横摆力矩，则可以获得更多的结果。针对本实验研制了室内跑步机，机器人可以在该机器上行走。(4)利用ROCDS(Robot Control Simulator)仿真软件，开发了机器人快速行走和跑步的控制算法。在参考ZMP轨迹的基础上设计了新的步行模式，提高了步行速度。在跑步方面，通过控制机器人在落地和空中的姿态，成功地实现了单腿三维跳跃。但两条腿的跑步只完成了几步。偏航速度控制是下一个问题。研究还发现，当质量均匀分布在身体和腿部时，控制难度比大部分质量集中在上半身时要大得多。(5)研制了零弹性执行器，实现了非常灵活的运动。在电机和齿轮之间插入弹簧，扭矩控制为零。这样的驱动器可以制造出非常灵活的类人机器人，它可以在我们的日常生活环境中与人类合作。较少

The following five points are executed.(1) The stable dynamic biped walking was realized using the newly developed ZMP sensor and the biped walking robot MARI-2. The flexible electrical conductive rubber (FSR) was used as the pressure sensor and four of them are installed at the ZMP sensor, which is attached to each foot.(2) The hybrid control of the visual walking and visual servo was realized at the MARI-2 so that the humanoid robot can stay with the human living environment. The robot tracks the person waring the red shirt, and walks forward, left and right, and stops. When the distance exceed the certain level, the walking speed is increased, and also the it stops when the distance is below the desighned value. The height of the eye ( camera) position is also controlled by changing the COM position.(3) The fast walking experiments were carried out, using MARI-1 biped walking robot. The 1.4 km/h was achieved. The arm swing is not enough at the present facilities. The further speed m … More ay be obtained if the power of actuators are upgraded and the yaw moment is controlled as we analized by simulations. The room running machine was developed for this experiments, and the robot can walk on this machine.(4) Using the ROCDS (Robot Control Simulator), the control algorithm for the fast walking and the running was developed. The walking speed is improved after the new walking pattern is designed based on the reference ZMP trajectory. As for the running, the one leg 3D jumping was succeeded bu controlling the posture of the robot in the landing period and also in the air. But the two-leg running was achieved only a few steps. The yaw rate control is the next problem. It is also found when the mass is distributed uniformly in the body and legs, the control is much more difficult than the case that the most of the mass is concentrated in the upper body.(5) The zero elastic actuator was developed so that the very flexible motion can be achieved. The spring is inserted between the motor and gear, and the torsion is controlled to be zero. Such actuators can make the very flexible humanoid robots, which can collaborate with the human in our daily life environment. Less