自転車を操縦する人型ロボットのハンドル操作パターンの生成

A Development of Steering Patterns of a Humanoid Robot to Steer a Bicycle

Creators Hitaka Yoshikazu

Creators Homma Shota

Creators Nomura Takumi

Creators Yokoyama Masaharu

In this study, we have manufactured the control circuit of the servo motor of humanoid robot with a microcomputer board mbed, using the circuit and the operation pattern for the steering of the bicycle. When the robot held with the steering wheel both arms at both ends of the wheel and rotated it, it is derived each joint angle of both arms of the robot by solving the inverse kinematics problem of the position of the hand of the arms. I found from experiments that in some cases the joint angle of the arm is out of its appropriate range when the handle rotating large. Therefore, joints out of its appropriate range, it was possible to control the handlebar of a bicycle, making joints out of its appropriate range set to the maximum moveable joints angles, and adjusting the other joints within the range.

[ISSN]0386-4359

[NCID]AN00019833