メカナムホイールとオムニホイールを用いた全方向移動可能な倒立平行二輪型移動体

抄録

In this paper, an inverted pendulum vehicle extended to omni-directional motion is shown. Omni-directional motion is implemented by a drive unit which is constructed of mecanum wheels and omni-wheels. The mechanism of the omni-directional drive unit replaces the parallel two wheels of the inverted pendulum mobile platform, and extends it to omni-directional movement. The control system is also extended to integrate the additional lateral motion into the parallel two wheel inverted pendulum control with the intuitional maneuvering system. To show the ability of operation on uneven terrain, the test drivings in a barrier-free environment are experimented. The vehicle was able to move into an elevator, and over gentle slope; block pavement; braille blocks; threshold sill; and grating covers.