歩行補助ロボットによる段差歩行のためのセンサ制御系の開発

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2011/12/01

タイトル(英語): Development of Sensor and Control Systems of a Wearable Robot to Walk on a Step

著者名: 小田　佑樹（名古屋大学工学研究科），香川　高弘（名古屋大学工学研究科），宇野　洋二（名古屋大学工学研究科）

著者名(英語): Yuki Oda (Graduate School of Engineering, Nagoya University), Takahiro Kagawa (Graduate School of Engineering, Nagoya University), Yoji Uno (Graduate School of Engineering, Nagoya University)

キーワード: 装着型ロボット，昇段・降段歩行，ヒューマンインタフェース，軌道生成　　Wearable robot，Stepping up and down，Human interface，Trajectory generation

要約(英語): The goal of our study is to develop sensing and control systems for walking on a step using a wearable robot. Our system consists of (1) sensing of a bump from a movement of a walker, (2) detecting a foot placement state related to the bump and (3) generating gait patterns of stepping up and down for the bump. In the generation of gait patterns for the bump, toe trajectories are generated according to the height of the bump to avoid the collision of the swing leg and the bump. A hip trajectory is generated by the optimization technique to minimize the sum total of joint angular jerk of the robot subject to the constrained condition of the hip position and velocity at toe-off. Each joint angle trajectory is calculated from the generated trajectories using inverse kinematics equations. We examined the feasibility of the proposed sensor and control systems for two kinds of bumps with different height.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.131 No.12 （2011） 特集：電気関係学会東海支部連合大会

本誌掲載ページ: 2181-2188 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/131/12/131_12_2181/_article/-char/ja/