抄録
The Multi-purpose Module System (MMS), which is one of the module robots, consists of joint modules and function modules. It is possible to transform the MMS such as series-connected form and quadruped form and add appropriate sensors. Therefore, the MMS is useful as rescue robot at unknown situation. This paper presents a quadruped form MMS (MMS-G02). Especially, modeling and simulation of the MMS-G02 for stability control is discussed. An inverted pendulum model is proposed and the MMS-G02 is controlled using a state feedback control to stay in balance. And the effect of friction force between the MMS-G02 and the ground is also evaluated by simulation. The maximum value of the lean of the MMS-G02 decreases with increasing the friction coefficient. The maximum value of the lean is 0.21 rad at condition of the friction coefficient 0.1. The results also indicated that the MMS-G02 can stay in balance and keep on the two legs.
