低重心型二輪移動ロボットのツアーガイドに対する走行制御の検討

抄録

This paper describes driving control of low center of gravity two-wheeled mobile robot for tour guide. It is necessary to design the driving control by considering operability and physical contact safety with people. We proposed state feedback control for robot body sway and feedforward control for driving performance. It is possible to estimate driving resistance from body angle during driving. We confirmed to improve driving performance by feedforward control with estimated driving resistance and to ensure physical contact safety with people by effect of state feedback control from experimental results.