MISC

査読有り
2012年3月

片足直立時における二足歩行ロボットの転倒回避動作

関東学院大学工学部研究報告 = Journal of technological researches
  • 石渡 繁
  • ,
  • 元木 誠
  • ,
  • 山崎 洋一

55
2
開始ページ
71
終了ページ
78
記述言語
日本語
掲載種別
出版者・発行元
関東学院大学工学会

Biped walking robots are expected to apply in various fields by improvement of the hardware performance and the cost reduction of the parts. However, the biped walking robot falls over easily. It is necessary that adaptability to unknown and dynamically changing environments. Therefore, an optimization method which automatically corrects motions in real time by using neural network is proposed, where the biped walking robot can avoids falling over. From the result of experiments in upright posture, the validity of proposed method has been confirmed in stationary condition. To realize falling avoidance while walking situation, a correction method is required, where joint angles of robots are always changing while walking. Then, we propose a correction method which modifies joint angles of robot to keep a sole of a robot on the ground as a body tilt demands. The result shows that the proposed method is able to correct motions in order that the robot automatically avoids falling over in situation of one leg.

リンク情報
CiNii Articles
http://ci.nii.ac.jp/naid/120006025735
CiNii Books
http://ci.nii.ac.jp/ncid/AN00045764
URL
http://id.ndl.go.jp/bib/023730066
URL
https://kguopac.kanto-gakuin.ac.jp/webopac/NI30000369
ID情報
  • ISSN : 0368-5373
  • CiNii Articles ID : 120006025735
  • CiNii Books ID : AN00045764

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