Abstract
This paper proposes a load lifting method of an unknown mass for the I-PENTAR, an inverted pendulum type assist robot. Lifting is performed by changing the desire inclination angle of the robot. The control is performed using a full state feedback controller and a disturbance observer. The disturbance observer is used for estimating the inclination angle of the combined center of gravity of the robot and the load. The estimated inclination angle is used to determine the final value of the desired inclination angle of the robot. From the results of the experiments, it was confirmed that the I-PENTAR could realize the motion by the proposed method.
