計測自動制御学会論文集
Online ISSN : 1883-8189
Print ISSN : 0453-4654
ISSN-L : 0453-4654
論文
歩脚の減少・増加に対応可能な接地点追従式6脚移動制御
細萱 広高稲垣 伸吉鈴木 達也
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2022 年 58 巻 6 号 p. 304-313

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This paper proposes a novel walk control for hexapod robots based on Follow-the-Contact-Point (FCP) gait control, which can reduce or increase the number of walking legs during walking. The FCP gait control is decentralized event-driven gait control for multi-legged robots. In order to adapt the FCP gait control to changing the number of walking legs, we first introduce locomotion flag for each leg and adjacent information between legs. Then, to implement the adjacent information, the transition conditions of the control algorithm of FCP gait control are improved. As a result, the control algorithm obtains the properties of deadlock-free and maintaining the support triangle. The effectiveness of the proposed control architecture is verified by experiments in which a hexapod robot changes the number of walking legs during walking and walks on rough terrain even when the number of walking legs is reduced.

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© 2022 公益社団法人 計測自動制御学会
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