2P1-F13 大きな円弧形状の車輪を有する一輪型自律移動ロボットの開発

概要

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We are interested in a navigation in indoor environment, using an autonomous unicycle robot that has a Wide-Type Wheel. This robot behaves like a inverted pendulum for the sagittal motion, while it behaves like a "roly-poly" for the lateral motion. The robot inclines to the lateral direction in order to move itself to the desired direction, since it can not turn by itself only with the control of the wheel. The robot was developed 12 years ago. We modified the control board and sensor system, and also installed a laser range sensor(URG) on top of the robot. We developed maneuvering and navigation system, including sensor data processing, and implemented on a single SH4 CPU microcomputer board. In this paper, we demonstrate basic experiments of maneuvering and navigation using the unicycle robot.