ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 2A2-U02
会議情報
2A2-U02 状態遷移を考慮した四脚歩行ロボットの最短時間制御(脚移動ロボット(2))
竹内 恭平中村 太郎大隅 久
著者情報
会議録・要旨集 フリー

詳細
抄録
Time optimal control method for quadruped walking robots are developed and installed into a practical robot system. As the fastest trot walk has already been obtained by our previous study, a method for obtaining the fastest walking pattern applicable to the transition between the rest state and the fastest trot walk state is proposed and its effectiveness is verified in this paper. The developed method here is also available for obtaining the fastest walking pattern between two arbitrary states. From the simulation and experiment, the effectiveness of the developed control algorithm is verified.
著者関連情報
© 2012 一般社団法人 日本機械学会
前の記事 次の記事
feedback
Top