円筒乗りロボットの開発と運動制御

概要

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A human being can ride on a log or a barrel and roll it to any place while maintaining a stable posture. This study aimed to realize such a motion by a robot. The authors have developed a barrel-riding robot which can ride on a cylinder. The robot is composed of a main body, double controlling arms, a wheel, and a cylinder. The cylinder corresponds to a barrel and is rotated by friction through the wheel which is mounted on the cylinder and supports the body block. The controlling arms are suspended from the upper end of the body. In order to stabilize the posture of the robot, feedback control based on the compound gravity center of the robot is applied to control the robot by the controlling arms. Furthermore, two control methods were proposed to drive the cylinder. Using the control methods proposed here, the driving control of the cylinder together with the postural control of the robot has been attainted.
社団法人日本機械学会の論文
1991-01-25