TALK    Modeling and Control of Multi-locomotion Robotic System

Date & Time:

Tuesday, June 14, 2011; 4:00 PM

Abstract:

First, the concept of "Multi-Locomotion Robot" that has multiple types of locomotion is introduced. The robot is developed to achieve a bipedal walk, a quadruped walk and a brachiation, mimicking locomotion ways of a gorilla. It therefore has higher mobility by selecting a proper locomotion type according to its environment and purpose. I show you some experimental videos with respect to realized motions before now.
Second, I focus on biped walk and talk about detail of bipedal walking. This part proposes a 3-D biped walking algorithm based on Passive Dynamic Autonomous Control (PDAC). The robot dynamics is modeled as an autonomous system of a 3-D inverted pendulum by applying the PDAC concept that is based on the assumption of point contact of the robot foot and the virtual constraint as to robot joints. Due to autonomy, there are two conservative quantities named "PDAC constant", that determine the velocity and direction of the biped walking. We also propose the convergence algorithm to make PDAC constants converge to arbitrary values, so that walking velocity and direction are controllable. Finally, experimental results validate the performance and the energy efficiency of the proposed algorithm.

Speaker:

Tadayoshi Aoyama
Nagoya University

Tadayoshi Aoyama received B.E. and M.E. degrees from Nagoya University, Japan, in 2007 and 2009, respectively. He is currently working toward the Ph.D degree at the Department of Micro-Nano Systems Engineering, Nagoya University. His research interests include dynamic motion control, nonlinear control of underactuated mechanical systems, biped walking control and quadruped walking control. He is a member of the IEEE, Robotics Society of Japan, and Japan Society of Mechanical Engineering.

Research Area:

Computer Vision