2A1-C04 車輪倒立振子型アシスタントロボット : 倒立移動制御及び起立・着座動作の実現(車輪移動ロボット・メカトロニクス)

概要

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This paper describes the mobile control and the standing and sitting motion of I-PENTAR which is an inverted pendulum type human assistant robot aiming at coping with both safety and work capability. I-PENTAR consists of a body with a high powered waist joint, safely designed two arms, and a wheeled mobile platform. In a mobile control it is modeled as a three dimensional robot; an inclination angle, a horizontal position, and a steering angle, and controlled by a state feedback control method based on the LQR method. The motion planning of a standing and sitting motion which is an important motion for an inverted pendulum type robot in practical use is proposed. In the motion planning several conditions are considered to realize the motion, and the robot can achieve the motion by resolving the conditions. It was experimentally confirmed that I-PENTAR could realize the fundamental motions required in practical use, standing, running and turning, and sitting stably.
一般社団法人日本機械学会の論文
2007-05-11