脚車輪型移動ロボットにおける荷重推定の高速化の基礎検討

抄録

Improving mobility is necessary for the wheel-legged mobile robot to perform various tasks in different environments. This requires calculating the center of gravity, and one of the parameters of this calculation is the floor reaction force on the wheels. A method using frequency characteristics for determining the floor reaction force has been proposed. However, the conventional methods take a significant amount of time to obtain these frequency characteristics. Given that the load on the foot of robot changes, there is a need to rapidly obtain the frequency characteristics. Therefore, to address the issue of the conventional method, we propose a method for obtaining the frequency characteristics using the sliding discrete fourier transform (Sliding DFT) in a sequential manner. From the experimental evaluation, we confirm that the Sliding DFT can reduce the time for obtaining the frequency characteristics.