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-O09
会議情報
2A2-O09 四脚歩行ロボットの最速歩行における状態遷移軌道の設計
岩田 雅史鈴木 悠平田村 雄介大隅 久
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会議録・要旨集 フリー

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Time optimal control method for quadruped walking robots has been developed and installed into a practical robot system. The fastest trot walk and the trajectory of swing legs have already been obtained by our previous study. In this study, we designed velocity trajectories of the body and swing legs. Then, the design method of velocity trajectory that can accelerate to maximum speed in the shortest time and can decelerate to stop in the shortest time is established by combining velocity trajectory of the acceleration part and deceleration part of the body. Finally, we verified the simulation results.

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© 2015 一般社団法人 日本機械学会
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