凹凸を含んだ路面上における小型ヒューマノイドロボットの歩行の安定化

摘要

Recently, humanoid robots have widely researched, and they have become possible to be controlled robots with complicated kinetic characteristics. However, in the cases that the robot walks on an unknown undulating road or receives disturbances such as collision with an object from the outside, the robot loses stability and falls even if the inverted pendulum model is used. In this paper, an impedance control of a swing leg and a PI control of the rotation of a humanoid robot's waist are used to stabilize the dynamic walk on the unknown undulating road. For an impedance control, force sensors on the soles of the humanoid robot arc used to measure the torque and force of a swing leg that collide with the unknown undulating road. An angular velocity sensor and acceleration sensor in the body of the humanoid robot are used to measure the rotation of the waist and its error signal are used for the PI control of humanoid robot motion. As a result, it has been confirmed that the humanoid robot can walk on an unknown undulating road with proposed walking method.%少子高齢化が進む現在において，老人のための生活支援や介護のための労働力の不足が大きな問題となってきている．その労働力の不足を補うためにロボット技術を福祉分野へ適用する研究が注目されている．その中でも，ヒューマノイドロボットは，形状が人に似ていること，さらに車輪等と異なり移動時に地面との接触点を不連続に取ることができる等の特徴がある．