Humanoid mobile manipulator which is based on two-wheel inverted pendulum robot has been studied.Balance control is a key problem for this kind of centroid-variable robot.Due to the principle of two wheel inverted pen...Humanoid mobile manipulator which is based on two-wheel inverted pendulum robot has been studied.Balance control is a key problem for this kind of centroid-variable robot.Due to the principle of two wheel inverted pendulum,a timely angle compensation is necessary to make the system keep balance when the centroid changes.In this paper,a method based on coordinate transformation is introduced to get the compensatory angle and a 12-DOF mobile manipulator is also used to check the method.Simulation and experimental results show the effectiveness of the method.展开更多
基金The MKE(the Ministry of Knowledge Economy),Korea,under the Human Resources Development Program for Robotics Support Program supervised by the NIPA(National IT Industry Promotion Agency) (NIPA-2012-H1502-12-1002)the MKE,Korea,under the ITRC(Information Technology Research Center)Support Program supervised by the NIPA(NIPA-2012-H0301-12-2006)
文摘Humanoid mobile manipulator which is based on two-wheel inverted pendulum robot has been studied.Balance control is a key problem for this kind of centroid-variable robot.Due to the principle of two wheel inverted pendulum,a timely angle compensation is necessary to make the system keep balance when the centroid changes.In this paper,a method based on coordinate transformation is introduced to get the compensatory angle and a 12-DOF mobile manipulator is also used to check the method.Simulation and experimental results show the effectiveness of the method.
