A link position and attitude estimating unit 53 (54) of a controller 40 of a mobile robot 1 sequentially estimates the actual position and attitude of a first particular link 2 by using input parameters which at least include at least one of a desired attitude of an in-contact-with-ground link 13 and an observation value of the actual attitude of the first particular link 2, a desired position of the in-contact-with-ground link 13, and an observation value of the actual displacement amount of each joint. The driving force for each joint is adjusted by using the estimated values.
Controller for mobile robot
2017-10-31
Patent
Electronic Resource
English
Neural Network Controller for Mobile Robot Insect
British Library Conference Proceedings | 1994
|Fuzzy Logic Controller for an Autonomous Mobile Robot
NTIS | 1993
|A fuzzy logic controller for an autonomous mobile robot
NTRS | 1993
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