A study on optimal formulation for multi-legged gait robot with redundant joint

In this paper, a multi-legged gait prototype robot with four legs consisted of redundant joint is conducted. To control any motion for the four legged robot with redundant joint, the authors propose an optimal control system with fusing the attitude motion and the translation motion by performance i...

Full description

Saved in:
Bibliographic Details
Published in2017 International Symposium on Micro-NanoMechatronics and Human Science (MHS) pp. 1 - 6
Main Authors Hirakoso, Nobuto, Terayama, Jun'ya, Yoshinaga, Naoya, Tamura, Ryoichiro, Hatori, Tatsuya, Hirama, Yusuke, Choi, Woong, Shigematsu, Yoichi, Kawabata, Hironoshin, Arai, Tadao
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2017
Subjects
Attitude control
Legged locomotion
Numerical simulation
Optimal control
Robot kinematics
Servomotors
Online AccessGet full text

Cover

Abstract In this paper, a multi-legged gait prototype robot with four legs consisted of redundant joint is conducted. To control any motion for the four legged robot with redundant joint, the authors propose an optimal control system with fusing the attitude motion and the translation motion by performance index even if constrain condition has strong nonlinearity and number of control input variables is different from number of control output variables. Then to verify the proposing optimal method, the robot having four legs with 4 redundant DOF is treated and three case numerical simulations of optimal fusion for attitude and translation are executed. Then obtained the result is evaluated.
AbstractList In this paper, a multi-legged gait prototype robot with four legs consisted of redundant joint is conducted. To control any motion for the four legged robot with redundant joint, the authors propose an optimal control system with fusing the attitude motion and the translation motion by performance index even if constrain condition has strong nonlinearity and number of control input variables is different from number of control output variables. Then to verify the proposing optimal method, the robot having four legs with 4 redundant DOF is treated and three case numerical simulations of optimal fusion for attitude and translation are executed. Then obtained the result is evaluated.
Author Arai, Tadao
Hirakoso, Nobuto
Terayama, Jun'ya
Shigematsu, Yoichi
Tamura, Ryoichiro
Hirama, Yusuke
Kawabata, Hironoshin
Hatori, Tatsuya
Yoshinaga, Naoya
Choi, Woong
Author_xml – sequence: 1
  givenname: Nobuto
  surname: Hirakoso
  fullname: Hirakoso, Nobuto
  organization: National Institute of Technology, Gunma College
– sequence: 2
  givenname: Jun'ya
  surname: Terayama
  fullname: Terayama, Jun'ya
  organization: National Institute of Technology, Gunma College
– sequence: 3
  givenname: Naoya
  surname: Yoshinaga
  fullname: Yoshinaga, Naoya
  organization: National Institute of Technology, Gunma College
– sequence: 4
  givenname: Ryoichiro
  surname: Tamura
  fullname: Tamura, Ryoichiro
  organization: National Institute of Technology, Gunma College
– sequence: 5
  givenname: Tatsuya
  surname: Hatori
  fullname: Hatori, Tatsuya
  organization: National Institute of Technology, Gunma College
– sequence: 6
  givenname: Yusuke
  surname: Hirama
  fullname: Hirama, Yusuke
  organization: National Institute of Technology, Gunma College
– sequence: 7
  givenname: Woong
  surname: Choi
  fullname: Choi, Woong
  organization: National Institute of Technology, Gunma College
– sequence: 8
  givenname: Yoichi
  surname: Shigematsu
  fullname: Shigematsu, Yoichi
  organization: National Institute of Technology, Gunma College
– sequence: 9
  givenname: Hironoshin
  surname: Kawabata
  fullname: Kawabata, Hironoshin
  organization: YAMATO CORPORATION 580 Toriba-machi, Maebashi, Gunma, 371-8530, Japan
– sequence: 10
  givenname: Tadao
  surname: Arai
  fullname: Arai, Tadao
  organization: YAMATO CORPORATION 580 Toriba-machi, Maebashi, Gunma, 371-8530, Japan
BookMark eNotT11LwzAUjaLgNvcu-JI_0Jqb2zbJ4xjqhMke1OeRNrc1o2tGmyL79xa2p_PB4XDOnN11oSPGnkCkAMK8fG6-UilApRpFLhFv2NIoDTnqAhGy7JbNZKayBJWCBzYfhoOYcjrHGdut-BBHd-ah4-EU_dG2vA79cWxt9JM3cT6J6JOWmoYcb6yPvA9liPzPx1_ekxs7Z7vID8F38ZHd17YdaHnFBft5e_1eb5Lt7v1jvdomHlQeEyhNUUMtyNRkNVHpoKgUYI2lpLIEWThVobYAaCqpDWkjs9zmsoLpUyFxwZ4vvZ6I9qd-Gt6f99f_-A8VJVDP
ContentType Conference Proceeding
DBID 6IE
6IL
CBEJK
RIE
RIL
DOI 10.1109/MHS.2017.8305233
DatabaseName IEEE Electronic Library (IEL) Conference Proceedings
IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume
IEEE Xplore All Conference Proceedings
IEEE Electronic Library Online
IEEE Proceedings Order Plans (POP All) 1998-Present
DatabaseTitleList
Database_xml – sequence: 1
  dbid: RIE
  name: IEEE Electronic Library Online
  url: https://proxy.k.utb.cz/login?url=https://ieeexplore.ieee.org/
  sourceTypes: Publisher
DeliveryMethod fulltext_linktorsrc
Discipline Engineering
EISBN 9781538633144
9781538633151
1538633159
1538633140
EISSN 2474-3771
EndPage 6
ExternalDocumentID 8305233
Genre orig-research
GroupedDBID 6IE
6IF
6IH
6IK
6IL
6IN
AAJGR
ABLEC
ADZIZ
ALMA_UNASSIGNED_HOLDINGS
BEFXN
BFFAM
BGNUA
BKEBE
BPEOZ
CBEJK
CHZPO
IEGSK
IPLJI
OCL
RIE
RIL
RNS
ID FETCH-LOGICAL-i175t-1b96f1f0e9fea8eebd16c713f3b2ebb126d7c38a1139c289e89245a52c1863623
IEDL.DBID RIE
IngestDate Wed Jun 26 19:30:02 EDT 2024
IsPeerReviewed false
IsScholarly false
Language English
LinkModel DirectLink
MergedId FETCHMERGED-LOGICAL-i175t-1b96f1f0e9fea8eebd16c713f3b2ebb126d7c38a1139c289e89245a52c1863623
PageCount 6
ParticipantIDs ieee_primary_8305233
PublicationCentury 2000
PublicationDate 2017-Dec.
PublicationDateYYYYMMDD 2017-12-01
PublicationDate_xml – month: 12
  year: 2017
  text: 2017-Dec.
PublicationDecade 2010
PublicationTitle 2017 International Symposium on Micro-NanoMechatronics and Human Science (MHS)
PublicationTitleAbbrev MHS
PublicationYear 2017
Publisher IEEE
Publisher_xml – name: IEEE
SSID ssj0052853
ssj0002269490
Score 1.6960291
Snippet In this paper, a multi-legged gait prototype robot with four legs consisted of redundant joint is conducted. To control any motion for the four legged robot...
SourceID ieee
SourceType Publisher
StartPage 1
SubjectTerms Attitude control
Legged locomotion
Numerical simulation
Optimal control
Robot kinematics
Servomotors
Title A study on optimal formulation for multi-legged gait robot with redundant joint
URI https://ieeexplore.ieee.org/document/8305233
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
link http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV1LSwMxEA61J734aMU3OXg02242m02OIpYiVAUt9FbymC3VuislvfjrTXa39YEHbyGHJMxA5vV9MwhdUsljZRJLJLMZ8f5tSkTOKQFpqQTmY44q4Ta658Mxu5ukkxa62nBhAKACn0EUllUt35ZmFVJlPZGEJGayhbYyKWuu1iafQgMlM1R86l849bcm67JkX_ZGw6eA48qi5owfw1QqWzLYRaP1K2oIyWu0cjoyH78aNP73mXuo-8Xaw48be7SPWlAcoJ1vDQc76OEaV_1kcVng0n8Wb2qBg9fazPAKa1xBDMkCZjOweKbmDi9LXTocMrZ4CYF15rWBX8p54bpoPLh9vhmSZqQCmXuhOxJryfM474PMQQkAbWNufJyaJ5qC1jHlNjOJULF3DI2PxUD4-CxVKTWx4N7WJYeoXZQFHCEcyjJMZ4oxKRjLtbI01cb7X9TyLKfiGHWCaKbvddeMaSOVk7-3T9F2UE8NFDlDbbdcwbk3905fVHr-BBWaqLY
link.rule.ids 310,311,783,787,792,793,799,27937,55086
linkProvider IEEE
linkToHtml http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV07T8MwELZKGYCFR4t444ERp8RJHHtEiCpAU5BopW6VHV-qQklQlS78euwkLQ8xsFkebOtO8n333QuhCyqYKxNPE-HrkBh8GxCeMkpAaCrANz5HSbjFfRYN_ftRMGqgy1UtDACUyWfg2GUZy9d5srBUWYd7lsT01tC6wdWcVdVaK0aF2qJMG_Op_uHA3OstA5NXohNHzzaTK3TqU36MUymtSXcbxct3VEkkr86iUE7y8atF438fuoPaX3V7-GllkXZRA7I9tPWt5WALPV7jsqMszjOcm-_iTc6wxa31FC-7xmWSIZnBZAIaT-S0wPNc5QW2nC2eg607M_rAL_k0K9po2L0d3ESkHqpApkbsBXGVYKmbXoFIQXIApV2WGE819RQFpVzKdJh4XLoGGibGGwNuPLRABjRxOTPWzttHzSzP4ABhG5jxVSh9X3DfT5XUNFCJQWBUszCl_BC1rGjG71XfjHEtlaO_t8_RRjSIe-PeXf_hGG1aVVVpIyeoWcwXcGqMf6HOSp1_AheurAE
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=proceeding&rft.title=2017+International+Symposium+on+Micro-NanoMechatronics+and+Human+Science+%28MHS%29&rft.atitle=A+study+on+optimal+formulation+for+multi-legged+gait+robot+with+redundant+joint&rft.au=Hirakoso%2C+Nobuto&rft.au=Terayama%2C+Jun%27ya&rft.au=Yoshinaga%2C+Naoya&rft.au=Tamura%2C+Ryoichiro&rft.date=2017-12-01&rft.pub=IEEE&rft.eissn=2474-3771&rft.spage=1&rft.epage=6&rft_id=info:doi/10.1109%2FMHS.2017.8305233&rft.externalDocID=8305233