樽型形状の車輪をもつ一輪車型移動ロボットの旋回運動

Abstract

We have developed motion control technology of navigation for an our unique mobile robot with wide-type unicycle wheel which is similar to barrel shape. For the navigation by the robot, it is necessary to control its translational and rotational velocity. However, the robot has not obvious steering mechanism. We take notice a relation that the rotational motion occurs by just the inclinational roll angle of the wheel. We developed a new method to control the rotational motion of the robot by using the relation, and succeed to path following by the robot. In this paper, we report the method and a result of an experiment.