節体幹型移動ロボット「蛟龍」の研究 (予測的制御の導入と実験)

抄録

The perspective control for Articulated Body Mobile Robot KORYU is discussed. Being constructed by linearly connected articulations, the segments of the KORYU except that of foremost one can predict future posture by the information of adjacent frontal segment whilel ocomotion. The paper introduces the method to make exact prediction of future posture for any segment of KORYU by using Maximum Principle and the method is then developed to be used for the locomotion on arbitrary topology of the uneven ground. The validity is verified by experiment using the mechanical model “KR-I”.