車輪形ロボット用サスペンションの最適制御 : 一輪モデルによる実験

抄録

Among robotic locomotion mechanisms, a wheel method is best suited for high speed locomotion and high energy efficiency, but it is restricted to even road surfaces. In this paper, an active suspension is applied to a wheeled robotic vehicle to suppress the vibration of the vehicle caused by the road's roughness. An experimental device composed of a vehicle simulator and a road simulator is manufactured. The vehicle simulator is a one-wheel model using a direct drive motor for a suspension actuator. The control method is based on the discrete optimal control theory and uses the data gained from the internal sensors. Experimental results show that the estimation of the state values by the internal sensor signals is effective and the high performance of the vehicle body stability is achieved by suspension control during the run on the uneven road surface.