走行モードを巧みに切り換えて段差昇降する４輪ロボットの開発

• 松本 治

  機械技術研究所

• 梶田 秀司

  機械技術研究所

• 谷 和男

  機械技術研究所

• 大音 光博

  筑波大学

書誌事項

タイトル別名

• A Four-wheeled Robot to Pass Over Steps by Changing Running Control Modes.

抄録

Recently, many wheeled robots with an ability to pass over rough roads and steps have been developed. However, the structures of such robots are generally very complicated with many degrees of freedom. Therefore, we have developed a four-wheeled robot which has the ability of passing over a step with simple structure. We call it a variable structure type four-wheeled robot. For the realization of stepping over, there are several difficult problems to be solved, such as control methods for state transfer and stabilization in 2-wheeled state. In this paper, we mainly discuss control methods for transfers from 4-to 2-wheeled state and from 2-to 4-wheeled state. Especially in the transfer from 4-to 2-wheeled state, we make effective use of the driving torque of body's motor. In the transfer from 2-to 4-wheeled state, we have investigated a control method for soft landing to minimize the touch-down impact of the robot. By combining our control methods, we have realized an experiment of passing over a step successfully.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 13 (6), 822-829, 1995

  一般社団法人 日本ロボット学会

キーワード

• Wheeled Robot
• Dynamic Control
• Stepping Over
• Soft Landing
• State Transfer

詳細情報

• CRID: 1390001204726046720
• NII論文ID: 10007439508
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.13.822
• ISSN: 18847145
• ISSN: 02891824
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可