人間との相互作用を考慮した同軸2輪型ヒューマノイドの行動生成

抄録

In this paper, we describe an architecture and a control method for multi degrees of freedom (DOFs) of an wheeled inverted pendulum type of humanoid robot, Robovie-III. The wheeled inverted pendulum type robot can move in rough terrain with robust disturbance and save own energy by acquiring balance and maintaining stability. A dynamics of the robot is, however, changed by motion of the upper half of the body of it. Thus, in our method, we control the motion under controlling dynamic parameters of it.