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Robust Mobile Control Strategy of I-PENTAR Assistant Robot

机译：I-Pentar助理机器人的强大移动控制策略

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摘要

This paper describes the design concept of the human assistant robot I-PENTAR (Inverted PENdulum Type Assistant Robot) aiming at the coexistence of safety and work capability and its mobile control strategy. I-PENTAR is a humanoid type robot which consists of a body with a waist joint, arms designed for safety, and a wheeled inverted pendulum mobile platform. Although the arms are designed low-power and light weight for safety, it is able to perform tasks that require high power by utilizing its self-weight, which is the feature of a wheeled inverted pendulum mobile platform. I-PENTAR is modeled as a three dimensional robot; with controls of inclination angle, horizontal position, and steering angle to achieve high mobile capability. The motion equation is derived considering the non-holonomic constraint of the two-wheeled mobile robot with parameter uncertainties, and a robust state feedback control method is applied for basic mobile controls wherein the control gain is calculated by the linear quadratic control with proportional gain (LQR) and linear quadratic control with proportional plus integral gain (LQRI). Through several experiments of balancing, linear running, and steering, it was confirmed that the robot could realize stable mobile motion in a real environment by the developed controller.
机译：本文介绍了人员助理机器人I-PENTAR（倒置摆型助理机器人）的设计概念，旨在掌握安全性和工作能力及其移动控制策略的共存。 I-Pentar是一种人形型机器人，由带有腰部接头的机身组成，用于安全的臂，以及带轮式倒立摆动平台。虽然臂是为安全设计低功率和重量轻的，但它能够通过利用其自体重执行需要高功率的任务，这是轮式倒立摆动平台的特征。 I-Pentar被建模为三维机器人;通过控制倾斜角，水平位置和转向角来实现高移动能力。考虑到具有参数不确定性的两轮移动机器人的非完整约束的运动方程，并且施加了一种鲁棒状态反馈控制方法，用于基本的移动控制，其中控制增益由线性二次控制以比例增益计算（ LQR）和线性二次控制，以比例加积分增益（LQRI）。通过若干平衡，线性跑步和转向的实验，确认机器人可以通过开发控制器在真实环境中实现稳定的移动运动。

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