2A1-C29 4足歩行ロボットの足先最適軌道の生成 : 関節部モータ仕様に基づく足先軌道生成 / 2A1-C29 Optimum Toe Trajectory Generation of Four Legged Walking Robot : Toe Trajectory Generation Based on Specification of Joint Motors
- Resource Type
- Journal Article
- Authors
- Masayuki NAKAMURA; Naoto AKAHANE; Takeshi YANAGISAWA; Yoshiko SUDA; 中村 正行; 柳澤 岳志; 赤羽 直人; 須田 芳子
- Source
- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec). 2006, 1
- Subject
- Energy
Joint Motor
Optimum Trajectory
Specification
Walking Robot
- Language
- Japanese
- ISSN
- 2424-3124
This paper proposes an optimum trajectory generation method of walking robot legs in consideration of specification of joint motors. It is based on the algorithm that generates the optimum trajectory using multiple curves. Four legged walking robot is assumed and the leg is composed by two links with joint motors at hip and knee. The optimum trajectory is obtained from minimizing the variation of torque from the rating torque, the maximum torque and the driving energy of the leg. The specification of the joint motors can be determined at the same time.