Study on Articulated Mobile Robot Introduction and Experiment in Perspective Control

Akio Morishima; Shigeo Hirose

doi:10.20965/jrm.2003.p0070

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JRM Vol.15 No.1 pp. 70-76

doi: 10.20965/jrm.2003.p0070

(2003)

Paper:

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Study on Articulated Mobile Robot Introduction and Experiment in Perspective Control

Akio Morishima^* and Shigeo Hirose^**

^*National Institute of Advanced Industrial Science and Technology, 1-1-1, Umezono, Tsukuba-city, Ibaraki, Japan

^**Tokyo Institute of Technology, 2-12-1, Oookayama, Meguro-ku, Tokyo, Japan

Received:

November 5, 2002

Accepted:

November 22, 2002

Published:

February 20, 2003

Keywords:

articulated body mobile robot, perspective control, maximum principle

Abstract

The perspective control for Articulated Body Mobile Robot KORYU is discussed. Being constructed by linear connected articulations, the segments of the KORYU except that of foremost one can predict future posture by the information of adjacent frontal segment while locomotion. The paper introduces the method to make exact prediction of future posture for any segment of KORYU by using Maximum Principle and the method is then developed to be used for the locomotion on arbitrary topology of the uneven ground. The validity is verified by experiment using the mechanical model “KR-I”.

Cite this article as:

A. Morishima and S. Hirose, “Study on Articulated Mobile Robot Introduction and Experiment in Perspective Control,” J. Robot. Mechatron., Vol.15, No.1, pp. 70-76, 2003.

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This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

Study on Articulated Mobile Robot Introduction and Experiment in Perspective Control

Akio Morishima* and Shigeo Hirose**

Akio Morishima^* and Shigeo Hirose^**