CONTACTING EXTERNAL FORCE CALCULATION SYSTEM, ROLLING RESISTANCE TORQUE DETECTION METHOD

摘要

PROBLEM TO BE SOLVED: To solve the problems in which: a contacting external force applied to a moving body when the moving body contacts with an external environment, is calculated by a motion equation of a driving wheel; and when road surface characteristic is changed though the moving body does not contact with the external environment, it is misunderstood that the contacting external force is applied to the moving body because the moving body contacts with the external environment.;SOLUTION: A life support system 1 comprises: a rolling resistance torque acquisition unit 26 which obtains rolling resistance torque of the left driving wheel 7L and the right driving wheel 7R received from road surface 17 where the life support system is moving on; a contacting external force torque calculation unit 27 which calculates contacting external force torque acting on the left driving wheel 7L and the right driving wheel 7R when a life support robot 3 contacts with the external environment on the basis of rotation information, driving torque, the rolling resistance torque, motion equations of rotation of the left driving wheel 7L and the right driving wheel 7R; and a contacting external force calculation unit 28 which calculates the contacting external force acting on the life support robot 3 when the life support robot 3 contacts with the external environment on the basis of the contacting external force torque.;SELECTED DRAWING: Figure 2;COPYRIGHT: (C)2016,JPO&INPIT