2A2-E11 動力学シミュレーションと進化型アルゴリズムを用いた不整地移動ロボットの構造最適化

概要

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A wheeled mobile mechanism with a passive and/or active linkage mechanism for travel in rough terrain is developed and evaluated. In our previous research, we developed a wheeled mobile robot which has six wheels and a passive linkage mechanism, and its maneuverability was experimentally verified. The ability to climb over a 0.20 m high bump, which is twice the height of the wheel diameter of 0.10 m, was achieved; and the mobile robot can climb up 0.15 m high continuous steps. In this research, we optimized the mobile robot linkage mechanisms and controller parameters by evolutionary algorithm and Open Dynamics Engine in numerical simulations. In simulations, though the default parameter mobile robot could climb up the 0.20 m high bump, it could not achieve climbing up the two kinds of stairs. On the other hand, the best parameter mobile robot could climb up the three kinds of typical environments.
一般社団法人日本機械学会の論文
2009-05-25