2A1-B11 運動の力学的意味を考慮したコントローラの身体・運動要素への分解と運動の類似性評価

抄録

Robot control system that consists of a feedback controller and reference motion pattern is widely used. High calculation cost is also required to design the control system. So far, we have developed a controller design method based on an orbit attractor of nonlinear dynamics. The controller is decomposed into motion and body elements, and a new controller can be easily obtained by the combination of these elements. However, in the decomposition stage of the controllers, "same motions" for several robots have to be prepared a priori. Because it is not easy for us to define which motions are identical for a number of robots with different dynamical characteristics, a heuristic way is employed and the appropriate controller is not obtained sometimes. In this paper, we propose a verifying method of identifying various motions. This method is based on the vector field in the state-space, and makes use of the motion elements. The effectiveness of the proposed method is evaluated by simulations using tapping dance robots.