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JRM Vol.15 No.1 pp. 70-76
doi: 10.20965/jrm.2003.p0070
(2003)

Paper:

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:
Akio Morishima and Shigeo 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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