A controller 40 for a mobile robot 1 estimates, in a climbing up or down motion of the robot 1, the difference between the actual position and attitude of a distal end portion 13 of a to-be-supported movable link 3 that has been supported by a structure A and the desired position and attitude thereof, and determines a motion target of the robot 1 such that at least either the desired relative position/attitude of the distal end portion 13 of the to-be-supported movable link 3 with respect to a base body 2 or the desired support position/attitude of the distal end portion 13 of a to-be-moved movable link 3, which is to be moved, is adjusted according to the estimated value of the difference.


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    Titel :

    Controller for mobile robot


    Beteiligte:
    KANAZAWA MASAO (Autor:in) / INABA MASAYUKI (Autor:in) / OKADA KEI (Autor:in) / KAKIUCHI YOHEI (Autor:in) / NOZAWA SHUNICHI (Autor:in)

    Erscheinungsdatum :

    14.11.2017


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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