Basic Research on the Humanoid Robot for the Daily Life Environment

适用于日常生活环境的仿人机器人基础研究

基本信息

项目摘要

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
执行以下五点。(1)采用新研制的ZMP传感器和双足步行机器人MARI-2实现了双足稳定动态步行。采用柔性导电橡胶(FSR)作为压力传感器,其中四个安装在ZMP传感器上,ZMP传感器连接在每只脚上。(2)在MARI-2上实现了视觉行走和视觉伺服的混合控制,使仿人机器人能够适应人类的生活环境。机器人跟踪穿着红衬衫的人,向前走,向左走,向右走,然后停下来。当距离超过一定水平时,步行速度增加,当距离低于设计值时,步行速度停止。眼睛(相机)位置的高度也可以通过改变COM位置来控制。(3)采用MARI-1两足步行机器人进行快速步行实验。达到了1.4公里/小时。在目前的设施中,手臂的摆动是不够的。通过仿真分析,如果提高作动器的功率并控制偏航力矩,则可以获得更高的速度。为此研制了室内跑步机,机器人可以在该机器上行走。(4)利用机器人控制模拟器ROCDS (Robot Control Simulator),开发了快走和快跑的控制算法。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。在奔跑方面,成功实现了单腿三维跳跃,同时控制了机器人在落地时和空中的姿态。但是两条腿跑只走了几步。偏航率控制是下一个问题。还发现,当质量均匀分布在身体和腿部时,控制难度要比大部分质量集中在上半身的情况大得多。(5)研制了零弹性作动器,实现了非常灵活的运动。在电机和齿轮之间插入弹簧,并将扭力控制为零。这种驱动器可以制造出非常灵活的类人机器人,可以在我们的日常生活环境中与人类合作。少

项目成果

期刊论文数量(15)
专著数量(0)
科研奖励数量(0)
会议论文数量(0)
专利数量(0)
A.Yonemura,Y.Nakajima,A.Kawamura: "Experimental Approach for the biped Walking Robot Mari-1"Proceeding of Advaned Motion Control. S. SM-2 (2000)
A.Yonemura、Y.Nakajima、A.Kawamura:“双足步行机器人 Mari-1 的实验方法”Advaned Motion Control 论文集。
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K.Erbatur, A.Okazaki, K.Obiya, T.Takahashi, A.Kawamura: "A study on the zero moment point measurement for biped walking robots"Proceeding of IEEE International Workshop on Advanced Motion Control. 431-436 (2002)
K.Erbatur、A.Okazaki、K.Obiya、T.Takahashi、A.Kawamura:“双足步行机器人零力矩点测量的研究”IEEE 国际高级运动控制研讨会论文集。
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T.Takahashi,A.Kawamura: "Biped Walking by Path Tracking Control of Non holonomic System"Prcoceeding of ISRA. 99-102 (2000)
T.Takahashi,A.Kawamura:“非完整系统路径跟踪控制的双足行走”ISRA 会议录。
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M.Cao,A.Kawamura: "A Design scheme of neural oscillatory networks by hierarchical evolutionary calculation for gereration of humanoid Walking patterns"Advaned Robotics. vol.12, No.7. 697-710 (1999)
M.Cao,A.Kawamura:“通过层次进化计算生成人形步行模式的神经振荡网络设计方案”Advaned Robotics。
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K.Erbatur, T.Takahashi, A.Okazaki, A.Kawamura: "Design and Application of FSR Based ZMP Sensors for the Gait Generation of Biped Walking Robts"Proc. of ITM'01 International Conf.. 185-190 (2001)
K.Erbatur、T.Takahashi、A.Okazaki、A.Kawamura:“用于双足行走机器人步态生成的基于 FSR 的 ZMP 传感器的设计和应用”Proc。
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KAWAMURA Atsuo其他文献

KAWAMURA Atsuo的其他文献

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{{ truncateString('KAWAMURA Atsuo', 18)}}的其他基金

wireless power transmission from ac to dc at 1 m distance
1 m 距离内从交流到直流的无线电力传输
  • 批准号:
    24656182
  • 财政年份:
    2012
  • 资助金额:
    $ 22.61万
  • 项目类别:
    Grant-in-Aid for Challenging Exploratory Research
Research on energy-saving of adjustable speed drive system in use of high power density chopper
高功率密度斩波器调速驱动系统节能研究
  • 批准号:
    22246036
  • 财政年份:
    2010
  • 资助金额:
    $ 22.61万
  • 项目类别:
    Grant-in-Aid for Scientific Research (A)
Fast Walking and Running of Humanoid Biped Robot
仿人双足机器人的快速行走和奔跑
  • 批准号:
    15206050
  • 财政年份:
    2003
  • 资助金额:
    $ 22.61万
  • 项目类别:
    Grant-in-Aid for Scientific Research (A)
Experiments on the differential-gear-less power train of electrical vehicles and study on the low speed sensorless control
电动汽车无差速传动系实验及低速无传感器控制研究
  • 批准号:
    08455130
  • 财政年份:
    1996
  • 资助金额:
    $ 22.61万
  • 项目类别:
    Grant-in-Aid for Scientific Research (B)

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