単一ロッド式ブラキエーションロボット：跳躍前段階のメカトロニクス制御設計と検証
Single-Rod Brachiation Robot: Mechatronic Control Design and Validation of Prejump Phases
両端にグリッパを備えた単一剛体ロッドからなる最小構成のブラキエーションロボットを設計し、クランクスライド機構で重心を移動させる最適制御と連続制御を提案、シミュレーションとSTM32実装で振り子・回転動作を検証した。
著者: Juraj Lieskovský, Hijiri Akahane, Aoto Osawa, Jaroslav Bušek, Ikuo Mizuuchi, Tomáš Vyhlídal
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
A complete mechatronic design of a minimal configuration brachiation robot is presented. The robot consists of a single rigid rod with gripper mechanisms attached to both ends. The grippers are used to hang the robot on a horizontal bar on which it swings or rotates. The motion is imposed by repositioning the robot's center of mass, which is performed using a crank-slide mechanism. Based on a non-linear model, an optimal control strategy is proposed, for repositioning the center of mass in a bang-bang manner. Consequently, utilizing the concept of input-output linearization, a continuous control strategy is proposed that takes into account the limited torque of the crank-slide mechanism and its geometry. An increased attention is paid to energy accumulation towards the subsequent jump stage of the brachiation. These two strategies are validated and compared in simulations. The continuous control strategy is then also implemented within a low-cost STM32-based control system, and both the swing and rotation stages of the brachiation motion are experimentally validated.