Posture Control for Personal Mobility Robot using Feedback Compensation with Unstable Pole

Abstract

SUMMARY This paper presents a novel posture control approach using feedback compensation with an unstable pole. For a narrow and small personal mobility robot (PMR), this is needed in order to control its posture for achieving quick turning and high acceleration. However, in the conventional control approach that uses the posture angle as a controlled variable, the zero moment point (ZMP) does not settle to the desired point in the following cases: an unknown disturbance force given to the PMR, a fluctuation in the center of gravity of the PMR, and a change in the conditions between the tires and the road surface. In this paper, a novel control method using feedback compensation with an unstable pole is proposed to achieve the desired ZMP in the steady state. The proposed controller changes the control input for the actuator of posture control to zero in order to achieve the desired posture angle. The effectiveness of the proposed approach is verified through experiments using a prototype of the PMR.

Posture Stabilization Control of Personal Robot Based on Model Predictive Control

“…Thus, we have developed the robot in Fig. to follow a person and carry his/her belongings . Walking for 30 min several times per week is reported to contribute to maintaining health and improving quality of life .…”

Position and posture control for a class of second-order nonholonomic underactuated mechanical system

“…However, the posture control is another important aspect for the mechanical systems in practical applications. Feedback compensation (see Sharbafi et al, 2013), feedback linearization and model reference adaptive control (see Hirose et al, 2015) are proposed to realize some special posture control problems. But these approaches are mainly for the vertical plane underactuated manipulator or the fully actuated systems which cannot be applied to the planar underactuated manipulator.…”