2P1-F03 機械安全を考慮した自己復元機構を有する倒立振子型移動ロボットの設計および姿勢角制御

概要

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Safety and reliability is important for the design of the service robot in the symbiosis space. This paper address an inverted pendulum type mobile robot that space-saving and high mobility performance. This type robots have the center of gravity position of above, and hence the system is inherently unstable for attitude control. A self-righting mechanism is adopted in robot design for the purpose of safety and reliability. This paper describes that attitude stabilization control method of the inverted pendulum type robot with self-righting mechanism when the trouble of the power management and the control system happened. The attitude angle of the robot body is measured by using the estimated signal with the disturbance observer. The experimental results indicated that the availability of disturbance observer as sensor fusion method by using gyroscope and accelerometer, and the effectiveness of the proposed robot system for safety and reliability.
一般社団法人日本機械学会の論文
2009-05-25