2P1-C11 平面上を移動可能な倒立振子の開発 : 玉乗りロボットの開発と1脚跳躍ロボットの基礎研究(特殊移動ロボット)

概要

論文の詳細を見る
This paper describes two types of inverted pendulums. One is that balances on a ball. It is equipped with three omnidirectional wheels with stepping motors that drive the ball, and with rate gyroscopes and accelerometer as attitude sensors. It could stand still, traverse on floor, and pivot. Inverted pendulum control was applied in two axes for attitude control. The mechanism, control scheme, and experiments of it are shown. Another robot was trial system of hopping robot. It employed three-phase linear induction motor in order to adapt for much higher hop. The concept and basic experiments using prototype elements including reaction-wheel type inverted pendulum are described.
一般社団法人日本機械学会の論文
2008-06-06