Attitude Control of Tumbler Systems with Joints using a Gyroscope.

摘要

In this paper, we describe the attitude control of the biped walking robot model (a tumbler system with joints) intended for walking on an unleveled land. The sole of the foot of the biped walking robot may not always get hold of the ground on an unleveled land. Therefore, we have devised, as a walking robot model, a tumbler system whose foot has an arc sole. We have made the model, and attempted an experiment of stabilizing control by detecting the attitude using the gyroscope. The robust control system design based on the H∞ control theory, that is, the loop-shaping method is applied to the design of the stabilization compensator of the feedback control system. In the experiment, first, the attitude of the tumbler with its knee joints fixed is controlled, and then, with its knee joints of the free legs in bending and stretching movement, the robustness of the control system is investigated. As is clear from those experimental results, we can say we have succeeded in the robust stabilization control of the attitude of the walking robot model, that is, the tumbler system with joints.