Posture Stabilization Control Compensating Variation of Body Center of Gravity in Underactuated System

摘要

With the recent decreasing birthrate and aging population, cooperative robots are attracting attention for a new workforce. As cooperative robot, robots with a small footprint and high center of gravity, like humans, can be considered more suited. Robots with these features are generally unstable, and posture stabilization control becomes important when the center of gravity is shifted due to holding objects or other factors. Therefore, in this study, we select a two-wheeled robot as the target robot and carrying luggage as the target motion, and establish the posture stabilization. Many studies about two-wheeled transport robots do not adequately consider the shift in the center of gravity, which may lead to rapid acceleration and negatively affect position tracking performance. The purpose of this paper is to compensate the shift in the center of gravity of the vehicle, and can perform transport operations in a steady state. To achieve this purpose, we propose to apply Repulsive compliance control(RCC) to a two-wheeled transport robot. Several experiments show its effectiveness.