六足机器人仿真器的研制与行走分析

2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) Pub Date : 2019-09-01 DOI:10.23919/SICE.2019.8859942

Genji Tanaka, Tetsuta Takamura, Yukie Shimura, Kazuhiro Motegi, Y. Shiraishi

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引用次数: 6

摘要

六足机器人的腿的控制是一个复杂的问题，一直是众多研究者关注的问题。近年来，自动导引车、多旋翼无人机、履带式机动车等无人驾驶电动汽车迅速投入实际应用。然而，尽管有一些玩具机器人，六足机器人离实际应用还很远。六足机器人更适合在荒地、泥泞地、湿滑地等地行走，因此需要设计出具有优化腿部控制的大型六足机器人。首次研制了六足机器人行走模拟器，并对其行走行为进行了分析。讨论了基于模型的设计方法在仿真器开发和直线行走稳定性研究中的应用。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Development of Simulator and Analysis of Walking for Hexapod Robots

The control of legs for hexapod robot is complicated and it has been attracted many researchers' concern. Recently, such unmanned electric vehicles as automatic guided vehicles, drones with many rotors, and mobilities with crawlers, etc. are rapidly put into practical use. However, hexapod robots are far from the practical use although some toy robots are available. The hexapod robot would be much more useful for walking on wasteland, muddy land or slippery land, etc. and it is required to design the large-scale hexapod robot with optimized control of legs. A simulator for the walking of hexapod robot is developed for the first time and the walking behaviors are analyzed. The application of Model Based Design method to the development of simulator and the straight walking stability is discussed.

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来源期刊

2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE)

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