可変構造型移動ロボットの制御に関する研究 : 第6報,制御アーム-車輪型モデルの形状が未知の曲面上の走行

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In the previous studies, we investigated the motion and postural control methods together with the walking form of the inverted pendulum-type robot composed of a body, parallel bicycle wheels and double controlling arms. Postural stability and high-speed driving of the robot were respectively achieved in the first and fifth report. The control principle and stability conditions were made clear analytically and experimentally in the third report. However, detection of the inclination angle of the robot with respect to the ground still remains a serious problem of this robot because of the use of a contacting rod elongated from the rotary encoder mounted on the body. Therefore, it is assumed to be difficult to drive the robot on sloped terrain. In order to overcome this difficulty, we developed a new method for body inclination angle estimation and succeeded in driving the robot on slopes with shapes and inclinations unknown to the robot by estimating the true angle. In this paper, theoretical fundamentals of this method are discussed and justification for its use is provided by the experimental results.
1993-07-25