跳躍ロボットの基本モデルと制御設計

カテゴリ: 全国大会

論文No: 3-093

グループ名: 【全国大会】平成15年電気学会全国大会論文集

発行日: 2003/03/17

タイトル(英語): Basic Model and Control Design for Jump Robot

著者名: 朱赤 (横浜国立大学),杉生 憲司(横浜国立大学),河村 篤男(横浜国立大学)

著者名(英語): Chi Zhu(Yokohama National University),Kenji Sugio(Yokohama National University),Atsuo Kawamura(Yokohama National University)

キーワード: 跳躍ロボット|仮想ばね|モデル|制御設計

要約(日本語): In this report, the concept ofvirtual spring is proposed, new analysis approach and control method is established for jump robot. First, using virtual spring, a simplified mass-spring model for jump robot is set up. Then, the necessary condition of lift off is deduced and the motion equation in the air is obtained. The proposed model has the following adavantages:1. With the equations, the motion planning can be easily implemented. 2. The performance of the jump robot can be the same as the mass-spring system. 3. By changing the spring's stifiness, non-linear performance or even completly different performance can be easily obtained. This brings the great flexibility for control design.

原稿種別: 日本語

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