走行形態が可変な自律移動ロボットの姿勢制御

抄録

This paper discusses transformation control of an autonomous mobile robot with multiple running modes. For an autonomous mobile robot to move in a human living environment, especially a place like a crowd, smooth action like a two-wheel mobile robot is required. However, with a two-wheel mobile robot, attitude control is required even at rest, and there is a problem that stability is lacking. We propose a method that enables transformation from four wheels to two wheels to obtain stability during rest in addition to smooth running in two wheels mode. Calculate the target attitude angle from the equilibrium of the moments, and transform it by controlling the attitude of the robot upper body and the wheel. In order to stabilize the transformation, feedback control is performed from the difference between the attitude angle obtained from the IMU and the target attitude angle.