Biped Running on Uneven ground using Gait-Morphing

使用步态变形在不平坦的地面上跑步的两足动物

• 批准号: 16360129
• 负责人: KAJITA Shuuji
• 金额: $ 9.47万
• 依托单位: National Institute of Advanced Industrial Science and Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 2004
• 资助国家: 日本
• 起止时间: 2004 至 2006
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-16360129/
• 关键词: Mechanism and Control; System Engineering; Control Engineering; Intelligent Robotics; ヒューマノイドロボット; 2足歩行; 走行; 不整地移動

(1)A biped running of forward and sideways, hopping with two legs and one leg were realized by a humanoid biped robot HRP-2LR. Those were performed on a level ground and the maximum running speed was 0.58km/h. To realize the faster run, we have added the toe springs to the robot. A running pattern generator program was developed to use the toe springs and it was confirmed that the new robot HRP-2LT can run at 3km/h with the current configuration. We tested a jump experiment and realized a jump of 3cm height and 0.1s flight time. To solve the posture instability during high speed running, we have developed HRP-2LY which is HRP-2LT equipped with the waist yaw actuator and batteries for self contained running.(2)Based on the concept of the Gait-Morphing, we investigated a stabilization algorithm which uses time scaling of the future ZMP trajectory. Using this method, we confirmed that a biped robot can walk over an unknown uneven ground which has unevenness of up to 3cm per one step(3)To improve an unnatural behavior of current running robot, we proposed a running control algorithm based on output zeroing control. By using this method, a biped running on uneven terrain and running speed up to 10km/h were realized in computer simulation.

(1)A利用HRP-2LR仿人步行机器人实现了前向、侧向、单腿和两足跳跃的步行运动。这些都是在平地上进行的，最大运行速度为0.58公里/小时。为了实现更快的运行，我们增加了脚趾弹簧的机器人。开发了使用脚趾弹簧的运行模式生成器程序，并确认新机器人HRP-2LT可以在当前配置下以3 km/h的速度运行。我们进行了跳跃实验，实现了3cm高度和0.1s飞行时间的跳跃。为了解决高速跑步时的姿势不稳定问题，我们开发了HRP-2LY，这是HRP-2LT，配备了腰部偏航驱动器和电池，用于独立跑步。（2）基于步态变形的概念，研究了一种利用未来ZMP轨迹时间尺度的稳定算法。（3）针对目前机器人行走过程中存在的不自然现象，提出了一种基于输出调零控制的机器人行走控制算法。利用该方法，在计算机仿真中实现了在不平坦地形上的高速行驶，其速度可达10 km/h。

项目成果

The Control of a Bipedal Running Robot based on Output Zeroing considered Rotation of the Ankle Joint

考虑踝关节旋转的基于输出归零的双足行走机器人控制

• 发表时间: 2006
• 期刊: Proceedings of the 45th IEEE Conference on Decision and Control
• 作者: T.Shimizu;S.Nakaura;M.Sampei
• 通讯作者: M.Sampei

A Running Experiment of Humanoid Biped

仿人双足跑步实验

• 发表时间: 2004
• 期刊: Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems
• 作者: T.Nagasaki;S.Kajita;K.Kaneko;et al.
• 通讯作者: et al.

減速装置

减速器

• 发表时间: 2011

A Hop towards Running Humanoid Robot

迈向运行人形机器人

• 发表时间: 2004
• 期刊: Proceedings of the 2004 IEEE International Conference on Robotics ＆ Automation
• 作者: S.Kajita;T.Nagasaki;K.Kaneko;et al.
• 通讯作者: et al.

ZMP-based Biped Running Enhanced by Toe Springs

• DOI: 10.1109/robot.2007.364087
• 发表时间: 2007-04
• 期刊: Proceedings 2007 IEEE International Conference on Robotics and Automation
• 作者: S. Kajita;K. Kaneko;M. Morisawa;Shin'ichiro Nakaoka;H. Hirukawa