Dynamic & Static Fusion Control and Continuous Trajectory Generation of Quadruped Walking Vehicle.

Abstract

The mobile robot based on the quadruped walking has specific characteristics, such as the ability to form an adaptive and active base in standstill posture, to make slow but smooth statically stable walking, and to make bumpy but fast dynamically stable running. This paper discusses to exhibit these advantages by introducing a new concept of the gait control named dynamic and static fusion gait, which covers from statically stable to dynamically stable walking. The gait is shown to realize by introducing a generalized trot gait which unifies crawl and trot gait, and a sideway sway compensation trajectory which sway the center of the gravity of the body to lateral direction to realize dynamic stability. The paper elaborates the algorithm to generate the continuous trajectory of the center of gravity of the body and the foot. The walking experiment is done by using test constructed walking vehicle model TITAN IV and the continuous accerelation locomotion from standstill to dynamic walk of up to 400 mm/sec is shown to realize. 1.‚Ü ‚¦ ‚ª ‚« 4'« •à •s ‹@ŠB‚Í,•s •®'n ‚Å‚ ‚Á‚Ä‚à•ÃŽ~‚µ‚½ˆÀ'è ‚È'« •ê ‚ð •\ •¬‚· ‚é‹@"\,•Ã •à •s(•í ‚É•Ã"I ˆÀ'è •« ‚ð •ÛŽ•‚· ‚é •à •s)‚É ‚ae‚Á‚Ä‚ä ‚Á‚-‚è ‚AE‚µ‚Ä‚¢ ‚邪 ŠŠ‚ç‚©‚ȈÚ"®‚ð •s ‚¤‹@"\,"® "I •à •s("® "I ˆÀ'è •« ‚ð •ÛŽ•‚· ‚éŠúŠÔ‚ð ŠÜ‚Þ •à •s)‚É ‚ae‚Á‚Ä•U"®"I ‚¾‚ª ‚ae ‚è•‚ '¬ ‚ȈÚ"®‚ð •s ‚¤‹@"\ ‚È ‚Ç ‚ð-L ‚· ‚é.‚± ‚ê ‚ç ‚Ì ‹@"\ ‚ð Ž© •Ý‚É'I 'ð ‚Å‚«‚ê ‚Î,4'« •à •s ‹@ŠB‚Í •¡ OEã '½‚-‚Ì •ª-ì ‚ÅŽÀ-p "I ‚É-˜-p ‚Å‚« ‚é ‚AE Žv‚í ‚ê ‚é.-{ OE¤ ‹ † ‚Í,‚± ‚Ì ‚ae ‚¤‚È•ÃŽ~•ó 'Ô‚©‚ç•‚ '¬ •à •s •ó 'Ô‚Ü ‚Å‚Ì •à-e ‚ð•ó ‹µ ‚ɉž‚ ¶‚ÄŽ© •Ý‚É'I 'ð ‚· ‚é ‚± ‚AE ‚ð ‰Â "\ ‚É‚· ‚é•à-e • § OEä OEn ‚Ì •\ •¬-@ ‚ð˜_‚ð˜_ ‚¸‚邸‚é ‚à‚Ì ‚Å‚ ‚é •]-ˆ4'« •à •s ‹@ŠB‚Ì •à-e • §OEä-@‚ɂ‚¢ ‚Ä‚Í,•Ã •à •s ‚É ‚‚¢ ‚Ä‚Í •MŽÒ‚ç‚Ì ‚¢ ‚-‚‚©‚Ì OE¤ ‹ † ‚ª ‚ ‚é1•`4)."® "I •à •s ‚ɂ‚¢ ‚Ä‚Í ŽO ‰Y,‰º ŽR,-Ø 'º5),Raibert6),OEà '' ‚ç7)‚É ‚ae‚é•ae‹ì "I ‚ÈOE¤ ‹ † ‚ª ‚ ‚é.‚µ ‚©‚µ,•Ã Ž~•ó 'Ô‚© ‚ç•Ã•à •s, ‚» ‚µ‚Ä"®"I •à •s ‚Ü‚Å‚ð Ž© •Ý‚É'I 'ð ‚Å‚«‚é ‚ae‚¤‚É ‚µ,˜A '± "I ‚È•" •i '¬ "x‚Ì •Ø ‚è'Ö‚¦ ‚ð ‰Â "\ ‚É‚· ‚é4'« •à •s ‹@ŠB‚Ì ‚½ ‚ß ‚Ì •à-e • § OEä-@ ‚ð •u•Ã"®-Z • ‡•à-e •v ‚AE OEÄ ‚Ô‚± ‚AE ‚É‚· ‚é ‚AE, ‚±‚Ì ‚ae‚¤‚È•Ã"®-Z • ‡ •à-e ‚ÉŠÖ ‚· ‚éOE¤ ‹ † ‚Í •]-ˆ‚Ü‚Á ‚½ ‚-•s ‚í ‚ê ‚Ä‚¢ ‚È‚¢ ‚± ‚AE ‚ª ‚í ‚©‚é. •Ã•à •s ‚AE "®"I •à •s ‚ð•Ø‚è Š· ‚¦ ‚é ‚± ‚AE ‚͈ê‚͈ê OE© ŠÈ'P ‚ÉŽv‚í ‚ê ‚é.‚µ ‚© ‚µ,•à-e ‚ð 'Ö‚¦ ‚È‚ª ‚ç•à •s '¬ "x ‚ð˜A'± "I ‚É•Ï ‰» ‚· ‚é‚É‚Í,-£ ŽU "I ‚È ƒV •[ ƒPƒ"ƒX ‰^ "®‚Å‚ ‚é‹r ‰^ "®‚ð•Ú 'n-Ê‚AE •s-v ‚ȃXƒŠƒbƒv‚ð • ¶•¬ ‚µ‚È‚¢ ‚ae‚¤‚É•³ ‚µ‚¢ ƒ^ƒCƒ~ ƒ"ƒO ‚Å•Ø ‚芷 ‚¦ ‚Ä‚ä ‚-‚± ‚AE ‚ð•K-v‚AE‚µ,‚» ‚ê ‚Ù‚ÇŠÈ'P ‚Å ‚Í ‚È‚¢. ‚» ‚± ‚Å-{OE¤ ‹ † ‚Å‚Í,‚± ‚ê ‚Ü‚Å'˜ ŽÒ‚炪 • ¶ OE£8)‚© ‚ç9) .‚Ü‚Å‚É‚¨‚¢‚Ü‚Å‚É‚¨‚¢ ‚Ä•" •ª "I ‚ÉOEŸ "¢ ‚µ‚Ä‚«‚½•l ‚¦ •û ‚ð•®-• "• • ‡ ‚µ , ‚Ü‚½•V‚½‚È•à-e • § OEä ŠT"O‚à "±"ü‚· ‚é ‚± ‚AE ‚Å•Ã"®-Z • ‡ •à-e OE´•OE´•eŽó•t1990"N2OEŽ16OEŽ *"OE‹ž•H‹AE 'åŠw •HŠw •" "ú-{ƒ•ƒ{ƒbƒg Šw ‰ï Ž•9Šª3• † 1991"N6OEŽ 7