Study on Articulated Mobile Robot Introduction and Experiment in Perspective Control | Zendy

Akio Morishima | Zendy; Shigeo Hirose | Zendy

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Study on Articulated Mobile Robot Introduction and Experiment in Perspective Control

Author(s) -

Akio Morishima,

Shigeo Hirose

Publication year - 2003

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2003.p0070

Subject(s) - perspective (graphical) , mobile robot , robot , computer science , control (management) , control theory (sociology) , robot locomotion , simulation , artificial intelligence , control engineering , robot control , computer vision , topology (electrical circuits) , engineering , electrical engineering

The perspective control for Articulated Body Mobile Robot KORYU is discussed. Being constructed by linear connected articulations, the segments of the KORYU except that of foremost one can predict future posture by the information of adjacent frontal segment while locomotion. The paper introduces the method to make exact prediction of future posture for any segment of KORYU by using Maximum Principle and the method is then developed to be used for the locomotion on arbitrary topology of the uneven ground. The validity is verified by experiment using the mechanical model ""KR-I"".

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