腕と本体が3リンクで構成された平行二輪車型移動ロボットの運動制御 : 第1報, 直立姿勢安定化制御と階段昇降

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In the previous papers, we reported the motion control methods and experimental results on the parallel bicycle which is composed of the double inverted pendulum-type body pivoted on the axis of the parallel wheels and the double controlling arm suspended from the upper end of the body. The inverted pendulum-type parallel bicycle can be well stabilized and travels according to the servo reference by using the controlling arms or the wheels. However, it cannot be adapted to uneven paths such as stairs. In order to travel uneven paths, we have developed the new type of the parallel bicycle with an articulated joint which connects the bodies divided in two pieces. The bicycle can change its configuration by folding its body and adapt itself to environment or application. The control methods and experimental results on the new vehicle are described in detail in this paper.
1991-06-25