Control Strategy for Dynamics of Mobile Robot with Wheels

我们利用汽车技术和机器人技术设计开发了一种新型车辆，并对其运行进行了一些基础实验。该车辆的设计理念是充分利用轮式运动的机动性和腿式运动的地形适应性。第一架实验飞行器有四条腿。每条腿末端有一个带齿条和小齿轮机构的垂直移动轮，身体上有一个伺服倾斜传感器。在此基础上，我们对第二辆车的腿采用平行连杆结构，该车具有包括俯仰运动在内的8个自由度。为了充分利用冗余腿，提出了一种新的控制方法。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。我们还在一个测试地形上进行了一些实验。从而验证了姿态控制的有效性和稳定的机动性。

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.