遠心力の予見に基づく脚車輪型移動ロボットの旋回時におけるZMP誤差のフィードフォワード補償法

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: 2014/03/01

タイトル(英語): Feedforward Compensation Methods for Zero Moment Point Error from Gyrating Locomotion of Wheel-Legged Mobile Robot based on Previewing Centrifugal Force

著者名: 鈴村　章洋（横浜国立大学），藤本　康孝（横浜国立大学）

著者名(英語): Akihiro Suzumura (Yokohama National University), Yasutaka Fujimoto (Yokohama National University)

キーワード: 脚車輪型移動ロボット，Zero moment point，重心軌道生成，遠心力，外乱予見制御，零位相差ローパスフィルタ　　wheel-legged mobile robot，zero moment point，center of gravity trajectory generation，centrifugal force，disturbance preview control，zero-phase low pass filter

要約(英語): This paper proposes methods based on the zero moment point (ZMP) to compensate for the effects of centrifugal force and facilitate better mobility of wheel-legged mobile robots (WLMRs). A centrifugal force acting on a high-speed WLMR destabilizes the ZMP. Thus, the centrifugal force should be compensated for to realize dynamic behavior. However, there have been few studies on compensating for the effect of centrifugal force acting on a WLMR. This paper discusses control methods to compensate for the effect. New centrifugal force compensation methods based on disturbance preview control and a zero-phase low pass filter are shown. These methods compensate for the effects of centrifugal force and control the ZMP to follow the reference ZMP. The effectiveness of the proposed methods was validated via precise three-dimensional simulations and experiments.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.134 No.3 （2014） 特集：産業計測自動制御，メカトロニクス制御

本誌掲載ページ: 258-267 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/134/3/134_258/_article/-char/ja/