Control Strategy for Dynamics of Mobile Robot with Wheels

带轮移动机器人动力学控制策略

• 批准号: 62460105
• 负责人: IGUCHI Masakazu
• 金额: $ 4.42万
• 依托单位: University of Tokyo
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for General Scientific Research (B)
• 财政年份: 1987
• 资助国家: 日本
• 起止时间: 1987 至 1988
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-62460105/
• 关键词: Wheel Type; Mobile Robot; Attitude Controll; Acceleration Sensor; 加速度センサ; 不整地; 車輪; 不整地走行; 姿勢センサ; 傾斜角センサ

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.

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。

项目成果

岡本 司,井口雅一: 第7回ロボット学期講演論文集.

冈本司、井口正和：第七届机器人学学期讲座论文集。

岡本司,井口雅一: 第7回ロボット学会講演論文集.

Tsukasa Okamoto、Masakazu Iguchi：第七届机器人学会会议论文集。

石谷靖,井口雅一: 第6回ロボット学会講演論文集. 第6巻. 343-344 (1988)

Yasushi Ishitani，Masakazu Iguchi：第六届机器人学会会议记录，第 6 卷。343-344 (1988)。

Yasushi Ishigai;Masakazu Iguchi: "Attitude Control and Sensor System of the Vehicle for the rough Terrain" The 6th RSJ Annual Conference. 343-344 (1988)

Yasushi Ishigai;Masakazu Iguchi：“崎岖地形车辆的姿态控制和传感器系统”第六届RSJ年会。

Tsukasa Okamoto;Masakazu Iguchi: "Dynamic Control of Robot Arm with Redundancy by Use of Null Vector Space" The 7th RSJ Annual Conference. (1989)

Tsukasa Okamoto；Masakazu Iguchi：“利用空向量空间实现冗余机器人手臂的动态控制”第七届 RSJ 年会。