3次元胴体姿勢計測シミュレータロボットの開発

抄録

In this paper, we show a novel simulator robot for three-dimensional torso attitude of under actuated robots. To obtain the attitude of the robot, we generally use the sensor-fusion algorithm such as kalman filter. However, it is difficult that we obtain the accurate attitude of the under-actuated robot by the various non-gaussian noise. We developed the simulator robot to validate the sensor-fusion algorithm for under actuated robots. Although the robot is very light weight and easy construction, the orthogonal three arms are freely actuated by the actuators. Therefore, we can easily simulate behavior of the attitude of under actuated robots.