脚車輪型移動ロボットにおける荷重推定領域の広範囲化に向けた推定モデルの検討

抄録

Ground reaction force is used to improve the motion performance of the wheel-legged mobile robot. The force sensor for measuring the ground reaction force is difficult to attach inside the foot of the wheel-legged mobile robot. To address this issue, a method has been proposed in which a load estimation model is created from the frequency characteristics of the wheel joints and used to estimate the load at the contact points of the wheels to obtain the ground reaction force. However, the load at the contact point of each leg with the ground becomes larger when the robot moves. Therefore, the load estimation in the high load range is necessary to consider. This paper proposes a nonlinear approximation model including the high load range. The effectiveness of the proposed model including the high load range is verified by experiments.