1996 年 14 巻 2 号 p. 238-248
The purpose of this work is to develop a wheeled inverse pendulum type mobile robot which can autonomously navigate in a two dimensional plane while keeping its own balance. In this paper, we report the construction and control algorithm of the wheeled inverse pendulum type self-contained mobile robot “Yamabico Kurara”. Yamabico Kurara has a functionally distributed architecture. The navigation program is located in the behavior control level and is implemented on the master module which takes the part of total control. Posture and trajectory tracking control are realized on the locomotion module which is one of the functional modules at the system level. The results of locomotion control experiments and navigation in the indoor environment of the robot are also shown. Discussion on the system integration and feasibility of the application is also included.