フィルタ包含LQサーボによる低剛性な脚式移動ロボットの制振制御

抄録

In general, lightness is important in the legged locomotion robot from the point of the consumption energy. As a result, it is thought that the legged locomotion robot is a low rigidity multi link system. This thesis describes the vibration control of the robot which became a low rigidity because of lightening. When the robot swings the leg, the robot becomes a low gidity series multi link system. Therefore, because the landingposition and posture become irregular by the vibration of the leg when high-speed walking, walking of the robot becomes unstable. Then, filter inclusion LQ servo which did an intuitive adjustment with the actual thing easily as the composition was coparatively easy in the technique of the vibration control was applied to this robot. Moreover, the vibration by the backlash of the machine was suppressed by feedback the velocity of the motor directly to the torque command. As a result, the vibration of the swing leg was able to be suppressed and control at high speed. The robot walked about 1.4 [km] per hour on a floor