Inverted wheeled mobile robot and its control method

摘要

PPROBLEM TO BE SOLVED: To provide an inverted-wheel mobile robot capable of performing an objective inverted walking, even when the position of the center of gravity and a road-surface inclined angle vary, and to provide a method of controlling the same. PSOLUTION: The inverted-wheel mobile robot 10 includes: an actuator 12 for actuating wheels 2; a detector 14 for detecting the real status of the inverted-wheel mobile robot 10; an inverted-walking controller 11 for controlling the inverted walking by generating a controlling value in accordance with the deflection between the real status at the detector 14 and an objective status detected to output the controlling value to the actuator 12; and an inclined body angle correction value processor 19 for reflecting a wheel-rotation angular speed or the walking speed of the body detected by the detector 14, and an inclined body angle correction value according to a deviation of the objective wheel-rotation angular speed or the walking speed of the body, on an objective inclined body angle included in an objective condition. PCOPYRIGHT: (C)2009,JPO&INPIT