床面傾斜に適応する二足歩行ロボットの機構と制御

平衡制御（balance control）の研究で，床反力制御により外力に対して適応的に平衡を維持できることが分かりました．これを二足歩行の制御に応用し，制御方法に何の変更を加えずに斜面での歩行を実現することができました．

この研究のもう一つの特徴は，歩行ロボットの股関節の機構にあります．歩行を斜面での直線運動に限定することで，２つの股関節をモータ２個で駆動する機構を考案し，斜面での歩行でその有効性を実証しました．

上り坂

下り坂

関連論文

A balance control in biped double support phase based on center of pressure of ground reaction forces
Preprints of the 7-th IFAC Symposium on Robot Control , pp. 205-210 (2003)
Satoshi Ito, Hironori Asano, Haruhisa Kawasaki

床反力中心制御による２足歩行系両脚支持期の重心移動
日本ロボット学会誌 , Vol. 22 , No. 4 , pp. 535-542 (2004)
伊藤聡，浅野博紀，川崎晴久

In-place lateral stepping motion of biped robot adapting to slope change
Proceedings of 2007 IEEE International Conference on System, Man and Cybernetics , pp. 1274-1279 (2007)
Satoshi Ito, Shinya Amano, Minoru Sasaki Pasan Kulvanit

A ZMP Feedback Control for Biped Balance and its Application to In-Place Lateral Stepping Motion
Journal of Computers , Vol. 3 , No. 8 , pp. 23-31 (2008)
Satoshi Ito, Shinya Amano, Minoru Sasaki, Pasan Kulvanit

A consideration on biped lateral motion planning with robot experiment of adaptive frontal-plane stepping
Preprints of the 9th International Symposium on Robot Control , pp. 583-588 (2009)
Satoshi Ito, Shinya Furuta, Minoru Sasaki, Pasan Kulvanit

A HIP JOINT STRUCTURE FOR BIPED ROBOT WITH REDUCED DOF’S OF MOTION
Proc. of the 16th International Conference on Climbing and Walking Robots , pp. 529-536 (2013)
Satoshi Ito, Akihiro Nakazawa, Takeshi Onozawa, Shingo Nishio, Minoru Sasaki

BIPED BALANCE CONTROL BASED ON THE FEEDBACK OF GROUND REACTION FORCES WITH GRAVITY COMPENSATION
Proceedings of ISCIE/ASME 2014 International symposium on Flexible Automation, ISFA2014-16L (2014)
Satoshi Ito, Shingo Nishio, Yuki Fukumoto, Minoru Sasaki

Design and adaptive balance control of a biped robot with fewer actuators for slope walking
Mechatronics , Vol. 49 , pp. 56-66 (2018)
Satoshi Ito, Shingo Nishio, Masaaki Ino, Ryosuke Morita, Kojiro Matsushita, Minoru Sasaki