Inverted two-wheeled robot
First Claim
1. A two-wheeled inverted robot comprising:
- a body;
two wheels which are coaxially arranged on the body;
a drive device for driving the wheels respectively;
a first state detection means for detecting at least one of an inclination angle and an inclination angular speed of the body;
a second state detection means for detecting at least one of a rotation angle and a rotational angular speed of the wheel;
a body constraint recognizing means for receiving information detected by the first state detection means or the second state detection means and detecting whether or not rotation of the body in an inclination direction is constrained; and
a control means for determining a command value to the drive device, changing a plurality of running control methods by the determined command value to drive the drive device, and thereby performing running control of the body,wherein the body includes at least one contact sensor for detecting a contact force to the body, and the body constraint recognizing means receives contact information detected by the contact sensor and information detected by the first or second state detection means to recognize a body constraint state, and the control means determines, based on detection result of the body constraint recognizing means, the command value to the drive device for changing the plurality of running control methods, the drive device is driven by the determined command value, and the running control of the body is performed to maintain a running state.
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Accused Products
Abstract
A two-wheeled inverted robot of the present invention includes a body, two wheels coaxially arranged on the body, a drive device for driving each of the wheels, first state detection means for detecting at least one of an inclination angle and an inclination angular speed of the body, second state detection means for detecting at least one of a rotation angle and a rotational angular speed of the wheel, body constraint recognizing means for detecting whether or not body rotation is constrained, and control means for determining a command value to the drive device. Based on the detection result by the body constraint recognizing means, the control means determines the command value for changing a ratio of a torque contributing to the body rotation.
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Citations
7 Claims
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1. A two-wheeled inverted robot comprising:
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a body; two wheels which are coaxially arranged on the body; a drive device for driving the wheels respectively; a first state detection means for detecting at least one of an inclination angle and an inclination angular speed of the body; a second state detection means for detecting at least one of a rotation angle and a rotational angular speed of the wheel; a body constraint recognizing means for receiving information detected by the first state detection means or the second state detection means and detecting whether or not rotation of the body in an inclination direction is constrained; and a control means for determining a command value to the drive device, changing a plurality of running control methods by the determined command value to drive the drive device, and thereby performing running control of the body, wherein the body includes at least one contact sensor for detecting a contact force to the body, and the body constraint recognizing means receives contact information detected by the contact sensor and information detected by the first or second state detection means to recognize a body constraint state, and the control means determines, based on detection result of the body constraint recognizing means, the command value to the drive device for changing the plurality of running control methods, the drive device is driven by the determined command value, and the running control of the body is performed to maintain a running state. - View Dependent Claims (4, 6, 7)
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2. A two-wheeled inverted robot comprising:
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a body; two wheels which are coaxially arranged on the body; a drive device for driving the wheels respectively; a first state detection means for detecting at least one of an inclination angle and an inclination angular speed of the body; a second state detection means for detecting at least one of a rotation angle and a rotational angular speed of the wheel; a body constraint recognizing means for receiving information detected by the first state detection means or the second state detection means and detecting whether or not rotation of the body in an inclination direction is constrained; and a control means for determining a command value to the drive device, changing a plurality of running control methods by the determined command value to drive the drive device, and thereby performing running control of the body, wherein the control means determines, based on detection result of the body constraint recognizing means, the command value to the drive device for changing the plurality of running control methods, the drive device is driven by the determined command value, the running control of the body is performed to maintain a running state, and during the body constraint, the control method is changed to a control method in which a torque generated by a constraint force to the body is added to torques for rotating and driving the wheels. - View Dependent Claims (5)
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3. A two-wheeled inverted robot comprising:
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a body; two wheels which are coaxially arranged on the body; a drive device for driving the wheels respectively; a first state detection means for detecting at least one of an inclination angle and an inclination angular speed of the body; a second state detection means for detecting at least one of a rotation angle and a rotational angular speed of the wheel; a body constraint recognizing means for receiving information detected by the first state detection means or the second state detection means and detecting whether or not rotation of the body in an inclination direction is constrained; and a control means for determining a command value to the drive device, changing a plurality of running control methods by the determined command value to drive the drive device, and thereby performing running control of the body, wherein the body includes at least one contact sensor for detecting a contact force to the body, the body constraint recognizing means receives contact information detected by the contact sensor and information detected by the first or second state detection means to recognize a body constraint state, the control means determines, based on detection result of the body constraint recognizing means, the command value to the drive device for changing the plurality of running control methods, the drive device is driven by the determined command value, thereby the running control of the body is performed to maintain a running state, and during the body constraint, the control method is changed to a control method in which a torque generated by a constraint force to the body is added to torques for rotating and driving the wheels.
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Specification