可変構造型移動ロボットの制御に関する研究 : 第3報, 制御アーム-車輪型モデルの姿勢安定化の力学的解析

概要

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In the first paper, the control methods and experimental results on the postual and driving control of the arm-wheel type locomotive robot were reported. In the second paper, the walking forms and control methods of the leg-leg type model which is a kind of quadruped walking robot were investigated. In this paper, the authors discuss static and dynamic stability of the arm-wheel type model according to the compound gravity center feedback method proposed in the first paper. Firstly, the static stability of the robot is analyzed and a generalized postual control method is derived. The dynamic stability of this control method is verified by the analysis based on the Routh-Hurwitz's criterion and the root-locus method. Using the results obtained by the analysis, we can find satisfactory stability condition whose effectiveness is confirmed experimentally. Furthermore, the effects of magnitude of the feedback gains upon the postural stability have been discussed and a designing method of the control system of the inverted pendulum type locomotive robot has been proposed.
1991-07-25