全方向形移動ロボットの制御に関する研究 : 第2報, 姿勢安定化および坂道走行に関する解析と実験

抄録

This paper describes the analyses and experiments on postural stability control and ascent/descent on a slope of a spherically shaped monocycle-type robot. By applying the postural stability control methods proposed here, we achieved stability control of the robot not only on flat planes but also on rough ground even when unexpected disturbances were added. Also, a detection method of an unknown inclination angle of slopes was established using an analytical equation derived from the robot's mechanisms and an angle-compensation method. By virtue of the unknown angle detection method, the robot's ascent/descent of a slope with its arch-shaped body upright was attained. Furthermore, if we put a cup of water on the top of the robot's body, the robot can run without spilling any water from the cup. It is confirmed by the experiments that the all-direction steering-type robot developed in this study has great capability as well as versatility in home and personal use.