2011 Fiscal Year Final Research Report
A Study on the optimal wheel allocation for leg/wheel mobile robots
| Project/Area Number |
21560475
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Control engineering
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| Research Institution | Tokyo City University |
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Principal Investigator |
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| Project Period (FY) |
2009 – 2011
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| Keywords | 制御システム / 非線形制御 / 最適化計算 / 組込みCPU / 移動ロボット / 障害物回避 / 誘導制御 |
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| Research Abstract |
Leg/wheel mobile robots, equipped with articulated legs which allow dynamic allocation of their wheel positions, are adaptable to the cluttered environments with its high mobility and stability. In this research, a real-time simultaneous model predictive locomotion and wheel allocation method is developed, which can be implemented into low speed embedded CPUs by the usage of the improved computation algorithm and index function. The proposed method is applied to a leg/wheel mobile robot with 3DOF SCARA legs to verify its enhanced performance.
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