Stabilization of a rapid four-wheeled mobile platform using the ZMP stabilization method

摘要

Numerous service robots have wheels for motion. Robots with wheels move stably in a 2D plane. At the moment of acceleration, various methods for maintaining stability are required. Most four-wheeled service robots have low velocity and acceleration because of their high center of mass. For high speed and dynamic movement, we need control methods to stabilize the robots. One of the fastest service robots with wheels, the EMIEW, can attain 6km/h with one of these methods. This paper introduces a novel approach that can allow four-wheeled mobile platforms to reach an unprecedented level of acceleration (max 0.5g) and velocity (max 20km/h) through the Zero Moment Point (ZMP) stabilization method using an inverted pendulum for dynamic movement.