サスペンション搭載双輪新型アクティブキャスタ(ACRO-DD)の操舵検出と制御に関する研究

抄録

Recently, active-casters have been invented for omni-directional robots, wheelchairs, and electric walk assist instruments. By controlling a steering shaft and a wheel, the active-caster can provide the machinery with omni-directional motions. Last year, we proposed ACRO-DD which is one of active-casters. It has dual wheels, suspensions, and a differential gear unit. However, this mechanism has a problem that it uses analog sensors. In this study, we change analog sensors to digital sensors and propose a new angle detection using 2 absolute encoders. We conduct an experiment on the new angle detection and confirm its usefulness. After this, we will make a new design of ACRO-DD.