事象駆動型統合制御「Timekeeper制御」の改良による6脚移動ロボットの不整地歩行

抄録

In previous works, “Timekeeper control” which was focused on a time-constraints satisfaction problem has been proposed to integrate complex control-subsystems in a multi-legged robot. It prevents the robot from deadlock while using multiple control-subsystems such as posture control, motion-planning, and gait control. This work had a problem that the legs’ behavior was limited to almost tripod gait because of a strict constraint among the legs in Timekeeper control. In this research, Timekeeper control is improved by introducing versatility in each leg parameters and a new algorithm to find feasible parameter areas to satisfy the desired specification. The proposed method was verified by some experiments of a real hexapod robot.