Development of the fast walking control method of 3-legs-wheeled type mobile robot

摘要

We are developing a leg-wheeled type mobile robot to be able to move around indoors efficiently and fast. This robot can move by wheels when it stands with its legs apart in order to keep balance. In addition, this robot can go up and down the stairs by its legs like human dynamic walking. This paper describes the dynamic trajectory planning for the fast walking and stability control method in the waking term. As the result, we realize the fast and stable walking on stairs by this robot.