車輪倒立型移動体の転倒防止モジュールの開発

抄録

A wheeled inverted pendulum type mobile platform falls down when a balancing control system fails. To cope with this issue, in this paper, we proposed a falling down prevention module for the platform, which can be reliably acted under the situation of balancing control failure. The developed module prevent the platform from falling down by supporting it with legs equipped in the module, which is rapidly rotated by actuators based on control failure information. The control failure can be detected by mutual monitoring between the module and a balancing control system via the CAN (Controller Area Network) communication. In this paper, the overall system configuration of the module is described and its effectiveness is confirmed through a falling down experiment.