不確かなパラメータを有する倒立振子型移動体の挙動特性を考慮した姿勢安定化方策

抄録

We have been developing an inverted pendulum type robotic wheelchair with the ability to climb stairs. This wheelchair has a seat slider and two rotary links between the front and rear wheels on each side. It is controled by a linear-quadratic regulator consisting of a center of gravity control mode and a rotary link control mode. In this paper, we focus on how to estimate the modeling errors in using this system and how to suppress the wheel motion, because modeling errors caused by payloads can cause the wheelchair to fall. We found that modeling errors cause wheel movement due to errors of the slider position and changes of the mass of the passenger. We proposed a method for estimating the slider position error and mass change, and confirmed that the method can be applied to correct the error.