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
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”.
Copyright© 2003 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.