全方向型移動ロボットの制御に関する研究 : 第4報, 完全球形ロボットの機構, 動作原理, 制御法および実験結果 (<小特集>ロボットの知能化)

概要

論文の詳細を見る
This paper describes new mechanisms, principle, control methods, computer simulation and experimental results of the second version of an all-direction steering-type mobile robot which has a spherical monowheel. Basic simulation results of straight running and rotation coincide with experimental results of the robot, and these results clarified, firstly, relationships between center of gravity and running ability of the robot, and secondly, the relationships between the robot's rotational angle and friction torque of the spherical wheel with the ground. Furthermore, it was confirmed experimentally that the new robot has high maneuverability, such as omnidirectional travel with zero-turning-radius rotation on any kind of surface. Therefore, it is expected that the spherical-wheeled robot developed here can be applicable as a safe personal service robot that can work with human beings in a limited space.
一般社団法人日本機械学会の論文
1996-10-25