抄録
This study addresses the design of a camera stabilizer in order to stabilize the captured image from a camera on the daruma type mobile robot. The daruma type mobile robot means the two wheeled inverted pendulum type mobile robot with self-righting mechanism. The daruma type mobile robot is applied as a tour guide robot aimed at the explanation of several exhibits in the science or art museum. This robot is able to recognize an exhibit by using the image processing a prepared maker for every exhibits. The camera mounted on the daruma type mobile robot oscillates because of the acceleration and deceleration of movement, and captured an unstable images. This paper describes about the design of a camera stabilizer for the daruma mobile robot. In consideration of the structural limitation of the robot, we proposed the camera stabilizer which adopted passive mechanism. Modeling of the daruma type mobile robot included the camera stabilizer was derived. From theoretical simulations for the frequency characteristics and stability of the robot dynamics, the design parameters were indicated for the camera stabilizer. The simulation results for movement of mobile robot showed the feasibility for the vibration suppression and the image stabilization by using the proposed camera stabilizer.
