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Biped and Quadruped Robots That Walk Dynamically on Variable-Angle Slope

在变角度斜坡上动态行走的双足和四足机器人

基本信息

批准号：
11650240
负责人：
EMURA Takashi
金额：
$ 2.3万
依托单位：
Tohoku University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
1999
资助国家：
日本
起止时间：
1999 至 2000
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-11650240/
关键词：
Biped Robot Quadruped Robot Walking Robot Legged Robot Attitude Sensor Rate Gyro Synthesis of Sensor Mechatronics Legged Robot

项目摘要

Legged animals move using static walk or dynamic walk. Static walk is statically stabilized movement, and it is the easiest gate for animals. However, dynamic walk has a statically unstable moment and it stabilizes posture of animals only dynamically. Thus, dynamic walk can be achieved using high-level control techniques. Study of dynamic walk was started first by Emura. It was early of 1970'.Emura made a stilts-shaped biped robot in 1972. Because this biped robot topples down without control, posture of the robot was sensed and stabilized so that the robot did-not toppled down. Posture sensor attached on the robot has construction like semicircular canals, and it is very useful for controlling the posture of the robot stably. This semicircular type posture sensor was made by Emura in 1971. This is first artificial semicircular type sensor in the world.Although it has many difficult problems to achieve dynamicamy stabilized walk, we have already attained very stable walk on the flat fl … More oor using 14 degree of freedom biped robot and 12 degree of freedom quadruped robot before 1998. However, it was difficult to attain stable walk on a variable angle slope such as uneven terrain. Thus, we made a belt conveyer whose inclination angle varies gradually about horizontal perpendicular two axes(pitch axis and roll axis)and carried out experiments of dynamic walk on this variable-angle slope.In first year, we remodeled leg mechanism of biped robot and quadruped robot so that foot sole can follow the change of slope angle, and we installed artificial eyes(CCD cameras)to the robot in order to realize stereo vision. Moreover, we developed control software which works under Linux OS to attain real time control. In second year, we made robot arms to give the biped robotyaw moment, because it is difficult to keep walking direction constant when we use dynamic walk method. Experiments of dynamic walk on the belt conveyer of time-varying slope were carried out, and it was confirmed that the biped robot can walk with keeping the dynamic stability even if the slope angle changes, and its walking direction can be kept constant by the help of arms. It was also confirmed that a control method propose by us is useful for dynamic walk of quadruped robot. Less

有腿的动物使用静态行走或动态行走。静态行走是一种静态稳定的运动，是动物最容易进入的闸门。然而，动态行走有一个静态不稳定的时刻，它只能动态地稳定动物的姿势。因此，可以使用高级控制技术来实现动态行走。动态步行的研究最早是由尾村发起的。那是20世纪70年代初。1972年，井村制造了一个高跷形状的两足机器人。由于这个两足机器人在没有控制的情况下倒下，机器人的姿势被感知并稳定下来，使机器人不会倒下。安装在机器人上的姿态传感器具有半圆形管道的结构，对于稳定控制机器人的姿态非常有用。这种半圆形的姿态传感器是由尾村公司于1971年制造的。这是世界上第一个人工半圆型传感器，虽然实现动态稳定行走有很多困难，但我们已经在平坦的…上实现了非常稳定的行走在1998年前，使用14自由度两足机器人和12自由度四足机器人的人数更多。然而，在不平坦的地形等角度可变的坡度上很难获得稳定的行走。为此，我们制作了一种倾斜角度围绕水平垂直两轴(俯仰轴和滚动轴)渐变的带式输送机，并在该变角度斜度上进行了动态行走实验。第一年，我们对两足机器人和四足机器人的腿机构进行了改造，使脚底能够跟随坡角的变化，并在机器人上安装了人眼(CCD摄像头)，以实现立体视觉。此外，我们还开发了运行在Linux操作系统下的控制软件，实现了实时控制。在第二年，我们制作了机器人手臂来给出两足机器人的机械手力矩，因为我们使用动态行走的方法很难保持行走方向的恒定。在时变坡度带式输送机上进行了动态行走实验，验证了双足机器人在坡度变化的情况下仍能保持动态稳定行走，并能借助手臂保持行走方向不变。也证实了我们提出的控制方法对四足机器人的动态行走是有效的。较少