2P1-F04 加速による倒立振子型ロボットの高速起立制御 : 計算トルク法に基づく起立動作の実現

概要

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In this paper, we propose high speed standing up motion control for I-PENTAR which is an inverted pendulum type robot aiming at supporting humans. In our previous research activity, the state transition motion from sitting to standing was achieved by slowly pushing the robot by arms. In this paper, we propose an alternative method for the state transition motion which accelerates the wheels without using the arms. In the method, a desired trajectory which moves the robot's center of gravity to an inverted position speedily and smoothly is created, and the wheels are controlled based on the computed torque method so that the center of gravity can follow the trajectory. In the result of experiments, it was confirmed that I-PENTAR could realize quick and stable standing up motion by the proposed method.
一般社団法人日本機械学会の論文
2009-05-25