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パーソナルモビリティロボットの走行切換制御 ― 初期値補償による4 輪接地状態から倒立2 輪走行への滑らかな移行 ―

パーソナルモビリティロボットの走行切換制御 ― 初期値補償による4 輪接地状態から倒立2 輪走行への滑らかな移行 ―

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カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2011/09/01

タイトル(英語): Mode Switching Control for Personal Mobility Robot --Smooth Transition from Four-wheels Mode to Wheeled-inverted-pendulum Mode by Initial Value Compensation during Motion--

著者名: 廣瀬 徳晃((株)豊田中央研究所),鋤柄 和俊((株)豊田中央研究所),梶間日出輝(トヨタ自動車(株)),山岡 正明(トヨタ自動車(株))

著者名(英語): Noriaki Hirose (TOYOTA CENTRAL R&D LABS., INC.), Kazutoshi Sukigara (TOYOTA CENTRAL R&D LABS., INC.), Hideki Kajima (TOYOTA MOTOR CORPORATION), Masaaki Yamaoka (TOYOTA MOTOR CORPORATION)

キーワード: 切換制御,初期値補償,同軸2輪倒立振子,パーソナルモビリティロボット  switching control,initial value compensation,wheeled-inverted-pendulum,personal mobility robot

要約(英語): The present paper introduces a novel standing-up control strategy based on Initial Value Compensation (IVC) for a Personal Mobility Robot (PMR). PMRs, which are wheeled-inverted-pendulum-type mobility-assist devices, offer the following advantages: (1) they can turn at a point; (2) they can maintain a level seating posture on a slope; and (3) they have a smaller footprint than conventional electric wheelchairs with four wheels. On the other hand, the user must maintain the posture of the PMR by using additional assist wheels on the ground when mounting/dismounting the PMR and working while seated on the PMR. In order to satisfy these requirements, we propose the following approach. First, the PMR accelerates to lift its assist wheels off the ground and determines whether the assist wheels are in contact with the ground. The feedback controller is then switched to wheeled-inverted-pendulum mode using the proposed IVC. The proposed IVC is designed such that the transient responses are improved and the amplitude of the control input and the jerk component are suppressed, in order to reduce the shock felt by the driver. The effectiveness of the proposed approach has been verified by conducting numerical simulations and experiments using a prototype PMR.

本誌: 電気学会論文誌D(産業応用部門誌) Vol.131 No.9 (2011)

本誌掲載ページ: 1157-1164 p

原稿種別: 論文/日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/131/9/131_9_1157/_article/-char/ja/

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