無方向性四輪車の動力学モデルの導出～車体の横方向への傾きを 考慮した新たな動力学モデル～

抄録

A non-directional four-wheeled mobile robot that does not have the concept of orientation and falling down has been developed in our laboratory. In our previous research, the junction between foreside and rearward of the robot is assumed to be fixed, and a dynamic model that does not consider the bending of the junction was derived and a control approach was developed. However, the junction between foreside and reward of the robot has the possibility of bending in the practice. Therefore, the control approach developed in previous research is not effective in practice application. To make the proposed method more effective to the practice application, in this research, a new dynamic model considering the bending of the junction is derived and a new control approach to improve true travelling performance of this robot is proposed. Finally, the effectiveness of the proposed controller was verified by experiment.