横加速度フィードバックによるパーソナルロボットの姿勢安定化制御

抄録

This paper presents a novel posture control approach based on feedback compensation of the lateral acceleration. The narrow and small PR (Personal Robot) is required to control its posture for realization of the quick turning and vertical posture even on the bumpy road. However, in the conventional control approach using the posture angle as controlled variable, ZMP (Zero Moment Point) can not be settled to the desired point, when the perturbation of the tire pressure is happened to PR, and the condition of the road surface is changed. Furthermore, some gyro sensors and acceleration sensors have to be equipped to estimate the accurate posture angle for the conventional control approach. In this paper, a novel control approach only using one acceleration sensor and one gyro sensor is proposed to realize the desired ZMP at steady state. The proposed control approach can make the lateral acceleration of the PR into zero in order to realize the desired posture angle during turning and vertical posture even on the bumpy road. The effectiveness of the proposed approach is verified by the experiments using a prototype of the PR.