2P1-F06 Picking Up By A Wheeled Inverted Pendulum Manipulator

Abstract

In this paper, we propose a new nonlinear programming based motion generator for a wheeled inverted pendulum manipulator. Our method utilizes L-BFGS-B method which can handle inequality constraints intrinsically and whose computational cost is low. Our method can generate various motions of the robot only by setting up an objective function for a given task. Through computer simulation, we confirm the validity of our method.