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: 3P1-G06
会議情報
3P1-G06 ヒューマノイドにおける二足歩行行動から腕接地歩行への拡張に基づく多種歩容行動の実現(ヒューマノイド(2))
黒岩 英則小島 邦生中岡 卓也野沢 峻一岡田 慧稲葉 雅幸
著者情報
会議録・要旨集 フリー

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抄録
In order to enable humanoids to walk steadily, it is important to use various walking forms. For examples, humanoids should walk not in biped but in quadruped when the ground is rough or they cannot believe that the space before them is and will be clear. With having choices of walking forms, they can access wider area by therselves. In this paper, we propose a way to extend a conventional biped walking pattern generator to a generalized walking pattern generator under arm/leg coordination by forcusing on gait pattern and the way to calculate target ZMP trajectory, and conduct a walking experiment over uneven ground by switching a walking form from biped to quadruped. Also we propose an attitude stabilization control system for walking over rougher ground and conduct a simple test for its validation.
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© 2014 一般社団法人 日本機械学会
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