抄録
Wheel type robot is considered to be stable comparing to leg type robot. However, it will fall down when a strong acceleration is applied for a sudden stop or turn. If the robot has an ability to change its posture as human has, the stability of the moving robot will be improved. This paper proposes a simple mechanism to evade the fall by controlling the posture of the upper-body of the robot. The posture controller works according to the acceleration sensor signal and is independent from robot motion control so that the motion planning can be done without paying attention of stability.
