7. Dynamic Control of Mobile Robot
7. Dynamic Control of Mobile Robot
Studies of control technology have lead to a novel scheme which enables mobile robots to negotiate various terrain while maintaining dynamic stability.
A newly-developed mobile system, "the biped type leg-wheeled robot" can negotiate stairs as a legged robot and travel on a flat plane as a wheeled robot with high efficiency and speed. We developed the planning and control method of dynamic trajectories for this system to realize the fast negotiation of stairs.
As a result, the biped type leg-wheeled robot successfully negotiated stairs, consisting of three steps, using four walking steps within 13 seconds. In the future, this technology is expected to be in the development of robots that act in human-shared spaces.
