全方向形移動ロボットの制御に関する研究 : 第3報, 旋回走行の動作原理, 制御法および実験

抄録

This paper reports the principle, control methods and experimental results of steering control of a spherical-shaped, all direction steering-type mobile robot developed in this study. By applying spiral rotation method proposed here, we achieved the robot's dynamic rotational and steering control. Angle detection mechanisms for the robot's posture and measuring methods are also detailed. By virture of one-point contact at the ground and the aforementioned rotation principle, the robot can perform unique rotational actions. Furthermore, we confirmed that the postural stability control for the arched body shown in the previous papers contributed to speeding up the rotation of the robot. The experimental results show that the cooperative control of the arched body, the controlling arch and the wheel makes the robot travel in omni-directions and adds to the maneuverability of the robot. Therefore, it is expected that the robot has great capabilities not only in service applications but also as an amusement robot for personal and miscellaneous applications.