二足歩行ロボットへの応用を目指した倒立振子の安定限界拡大手法

抄録

In recent years, robots are expected to be utilized in places where rescue activities are difficult, such as disaster-stricken areas and former nuclear power plant sites.in disaster area, Rescue activities are often necessary to move over rubble and debris. Humans can easily step over rubble by bipedal walking. In realizing a fully autonomous bipedal robot there is a problem of posture control in the case of the robot falling over when it makes a large posture change. In this paper, the inverted pendulum, which is the simplest model for posture control of bipedal walking, is considered. The effectiveness of a linear controller is verified by using Scilab/Scicos. when it is applied to an inverted pendulum with a large posture change that is a highly nonlinear model. Simulation results show that an inverted pendulum with large posture change is stable, when close loop poles are located near origin,