Research on smooth and energy-saving walk of biped robot

双足机器人平稳节能行走研究

基本信息

批准号：
15500102
负责人：
YONEDA Kan
金额：
$ 1.98万
依托单位：
Tokyo Institute of Technology
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2003
资助国家：
日本
起止时间：
2003 至 2005
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-15500102/
关键词：
Biped robot Dynamic walk Walking control Zero moment poing ロボット 2足歩行共振自励振動不整地

项目摘要

This research has done to study an energy saving walk of biped robot. Fundamental theoretical considerations and several experiments have done.As for the theoretical considerations, how much energy is required to keep mechanically harmonized walk is found out. It is a function of a stance of right/left foot and a height of the center of gravity.As for the experimental study, planar biped robot is manufactured. It has air cylinders to produce a kicking motion. Air flow is controlled by adjusting an ON/OFF timing of valve based on an information of a body inclination measured by a gyroscope. This control can realize a harmonized walk to keep a self oscillation of the mechanism. An air supply synchronized a touchdown could not make a good kick. Thus, a new method is developed to supply air before the touchdown and automatically produce a kick synchronized with a reduction of the foot force in a self mechanical oscillation.An energy consumption of the walk is confirmed as small as expected … More . For a maximum estimation, the experimental value is about twice as the theoretical value. This estimation is based on a maximum limit, because a real output is varied on the condition of the walk. A concrete value is 1.9 watt maximum for a 0.7sec/step walk of 10kg robot.A control to negotiate a height variation of the terrain is also realized. An open interval of the valve is adjusted to control a kick force of the cylinder and stabilize a self oscillating motion of the robot. A principle of the concrete algorithm is follows : Using a signal of touchdown and inclination by a tactile switch and gyroscope, a height variation is calculated. A feed-forward control to adjust valve open interval by a proportional value of the height variation is done. A feedback control to adjust a valve open interval by a proportional value of the deviation of cycle time of left and right steps is also carried out.By these control algorithms, the experimental model can negotiate a 20mm height variation for 300mm stance of left/right foot. Less

这项研究为研究了一系列的润滑机器人而进行了研究。基本的理论考虑和几个实验已经进行了。对于理论上的考虑，发现需要多少能量才能保持机械和谐的步行。它是右/左脚的姿势和重心的高度的函数。作为实验研究，制造了平面双头机器人。它具有空气缸以产生踢动作。通过根据陀螺仪测量的身体倾斜度的信息调整阀门的开/关时，可以控制气流。这种控制可以实现统一的步行，以保持对机制的自我振荡。空气供应同步达阵无法踢得好。这是开发出一种新方法来在达阵之前供应空气，并自动产生与自机械振荡减少脚力同步的踢球。步行的能源消耗被确认，如预期的……更多。对于最大估计，实验值约为理论值的两倍。此估计基于最大限制，因为实际输出在步行状况上有所不同。对于10kg机器人的0.7秒/步行步行，混凝土值最大为1.9瓦。调整阀门的开放时间间隔以控制气缸的踢力并稳定机器人的自我振荡运动。遵循混凝土算法的原理：使用触觉开关和陀螺仪的触地得分和倾斜的信号，计算高度变化。可以通过高度变化的比例值调整阀门打开间隔的前馈控制。还通过这些控制算法，可以通过对左右步骤的周期时间的比例值进行反馈控制，以调整阀门间隔。较少的