Simulation of Omni-Directional Low-Floor Mobility Controlled by Inverted Pendulum and Human Postural Control Model in forward-backward direction
Simulation of Omni-Directional Low-Floor Mobility Controlled by Inverted Pendulum and Human Postural Control Model in forward-backward direction
复制标题
倒立摆全向低地板运动与人体前后向姿势控制模型仿真
DOI：
10.1109/iecon43393.2020.9254558
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发表时间：
2020
期刊：
影响因子：
--
通讯作者：
Hashimoto Hiroshi
中科院分区：
文献类型：
--
作者：
Suzuki Mitsuhiro;Yokota Sho;Matsumoto Akihiro;Chugo Daisuke;Hashimoto Hiroshi
本研究的目的是开发一种全方位的低地板机动车。移动的平台和移动接口已经发展起来。移动的平台的高度为37 mm，从路面到登机层。全方位运动是通过使用四个麦克纳姆轮。操作界面由8个称重传感器组成。通过使用从八个测力传感器获得的载荷分布信息来实现全方位移动的操作。然而，由于平台的惯性引起的非预期的身体移动，移动性的移动倾向于振荡。为了解决这个问题，本研究提出的控制方法，不仅引入了倒立摆模型，而且还引入了人体姿态控制模型。在本文中，我们专注于向前向后移动。首先，提出了利用承载面载荷分布估计人体倾斜度的方法。其次，通过引入人体姿态控制模型，提出了一种移动性控制器，并进行了仿真。最后，通过与不含人体姿态控制模型的控制器进行比较，验证了含人体姿态控制模型的控制器的有效性。
The purpose of this research is to develop an omni-directional low-floor mobility. The mobile platform and the interface of the mobility have already developed. The height of the mobile platform is 37 mm from road surface to the boarding floor. Omni-directional movement is realized by using four mecanum wheels. The operation interface is consisted of eight load cells. The operation for omni-directional movement is realized by using load distribution information obtained from eight load cells. However, movement of the mobility tends to oscillate due to unintended body movement caused by inertia of the platform. In order to solve this problem, this research proposes control method by introducing not only an inverted pendulum model but also a human postural control model. In this paper, we focus on forward backward movement. First, the estimation method of human body inclination using load distribution on the boarding surface is proposed. Next, a controller of the mobility is proposed by introducing the human postural control model, and is simulated. Finally, the effectiveness of the controller including the human postural control model is shown by comparing with the controller not including the human postural control model which is validated by preliminary simulation.