The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM
Online ISSN : 2424-3116
会議情報
Optimization of Wheel Position for the Leg/Wheel Robots using Model Predictive Control considering Supporting Area and Center of Gravity
Yuji YanagiiKenichiro NonakaKazuma Sekiguchi
著者情報
会議録・要旨集 フリー

p. 76-77

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抄録
In this study, we realize optimization of wheel position which prevents falling over for the leg/wheel robots. The prevention of falling over is realized by minimizing a performance index using model predictive control (MPC). The performance index is maximizing the area of a supporting leg polygon and realizing the center of gravity (CoG) position which prevents falling over. In this paper, we show the effectiveness through simulation.
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© 2015 一般社団法人 日本機械学会
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