Posture Stabilization Control of Personal Robot Based on Model Predictive Control

摘要

Summary The aging of the elderly is a significant problem in developed countries. We address this problem by using a personal robot that follows elderly people. To accomplish its task, the robot needs to satisfy two main specifications: compact size and excellent traveling performance. In this paper, we introduce a prototype of our compact personal robot and propose a posture control approach based on model predictive control. Our approach can control the zero moment point within the desired range to achieve quick turning. The effectiveness of the proposed approach is evaluated by both simulations and experiments using the prototype robot.