Development of a Rapid Mobile Robot with a Multi-Degree-of-Freedom Inverted Pendulum Using the Model-Based Zero-Moment Point Stabilization Method

摘要

We developed a novel rapid mobile robot with zero-moment point (ZMP) stabilization. Most mobile robots cannot move quickly due to their high center of mass and narrow ground contact area. The higher center of mass makes it easier for the mobile robot to tip over. To stabilize mobile robots, we designed a multi-degree-of-freedom inverted pendulum to control the ZMP of mobile robots. Using a feed-forward ZMP stabilization method, we achieved zero change of the ZMP at any input velocity. We proved through experiments that it is possible to move stably at a maximum acceleration of 0.61 g and a maximum velocity of 12.35 km/h using the proposed method.