Control Strategy for Dynamics of Mobile Robot with Wheels

结合汽车技术和机器人技术，设计并研制了一种新型车辆，并对其进行了基本的行驶试验。该车辆的概念是充分利用轮式移动的机动性和腿式移动的地形适应性。在此基础上，第二辆车的腿采用了双曲杆结构，该车具有包括俯仰运动在内的8个自由度。提出了一种充分利用冗余腿的控制方法。我们开发了由速率陀螺仪和加速度传感器组成的原始传感器系统，并在试验地面上进行了试验。从而验证了姿态控制的有效性和稳定机动性。

We have designed and developed a new vehicle with automotive technology and robot technology, and have made some basic experiments on its running. The concept of this vehicle is making full use of mobility in wheeled locomotion and terrain adaptability in legged locomotion.The first experimental vehicle has four legs. Each legs have a vertical-moving wheel on the end with a rack-and-pinion mechanism, and has a servo-inclination sensor on the body.Based on the results, we have adopted the structure of paralell links for the legs of the second vehicle, and the vehicle has eight degrees of freedom including its pitching motion. We have proposed a new control method for making full use of redundant legs. We have developed the original sensor system that consists of a rate-gyroscope and an acceleration sensor.Some experiments on a test terrain, we also conducted. Consequently we have confirmed the effectiveness of the attitude control and the stable mobility.