Moving Control Method for Inverted Pendulum Mobile System of Human-Symbiotic Robot(Mechanical Systems)

摘要

We are developing a human-symbiotic robot "EMIEW", which supports people in their daily lives. To move nimbly and safely among people, EMIEW has an inverted pendulum mobile system and a collision avoidance system. Moreover, the high compliance of the position servo control is very important for the safe robot operation. We present compensation control methods of a precisely moving control for three type motions; a moving with an upper-body motion, a moving on a slope environment, and a trajectory tracking motion. Precisely trajectory tracking is important for the collision avoidance and other moving application such as multi robots cross running. Therefore, we proposed a new moving motion planning method by focusing on a "immovable point" which is a unique character of the inverted pendulum mobile system. With using this moving motion planning method, we could generate a trajectory that EMIEW can trace with a small error, and that conforms to specified constraints of maximum speed, maximum acceleration, and motion distance.