遠隔操作ロボット走行時におけるアーム制御による転倒回避

抄録

When teleoperating mobile robots, there is a danger that the robots tumble due to uneven terrain. It is important to avoid tumble because it will cause stagnation of works. In this study, a method to avoid tumbles during traveling in uneven terrain is proposed. This method enables the robots to avoid the tumbles by deciding the robot’s stability and changing the robot’s configuration using dynamic simulator. The robot’s stability is considered as a function of the center of mass position, and a gradient vector of the stability can be calculated. The gradient vector shows in which direction the center of mass position is moved from the current position to improve the stability. By moving the robot’s arm so that the center of mass moves in that direction, it might be possible to avoid tumbles. This method is verified by dynamic simulation and simulation results show the effectiveness of this method.