歩行可能条件を保証するTime Keeper制御を用いた6脚移動ロボットの適応歩行

抄録

In this paper, a method to improve walking performance of the Follow-the-Contact-Point gait control, which is a distributed control method of a six legged robot, is proposed. In the previous research, robot's walkable condition, which indicates the range of stayable time of the robot's control mode, was mathematically obtained by formal verification. Next, this range was mapped to derive the each leg's contactable range suitable for robot walking. However, there are cases where the possible staying time could not be satisfied in such situations where legs stumble on the ground or situations where some delay in the leg movement is required. So, in this paper, we propose a Time Keeper control that keeps the staying time of each control mode within the desired range for robot walking. First, walking control method, a FCP gait control, of a 6-legged robot is explained, and then the Time Keeper control is explained. Furthermore, an attitude control and a method of determining the ground contact point of the first leg are described, and finally it is confirmed using a simulation that the walking performance is improved by proposed method.