脚式ロボットのリアルタイム最適化と制御

- 不等式状態量拘束条件を伴う遊脚の定式化 -

抄録

The slack variable method was introduced into Receding Horizon Control^(1)(2)(4) with equal constraint, and formulization of a legged type robot’s swing leg was described. In formula Receding Horizon Control with equal constraint, such as having been proposed with bibliography⁽²⁾, ZMP⁽³⁾ conditions were described as equal constraint, and the whole robot center of gravity was formulized. Then, formulization of swing leg was added to this in this paper. Generally, the conditions on which swing leg does not fall from the floor altitude can be described as inequality state constraint. It is difficult to treat this amount states constraint, because input variable for this state constraint can not be analyzed. In this paper, it proposed dealing this with a problem using slack variable. This simple formulization can be applied to varied legged robot with any number of legs.