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.
Controller for mobile robot
2017-11-14
Patent
Electronic Resource
English
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Neural Network Controller for Mobile Robot Insect
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|Fuzzy Logic Controller for an Autonomous Mobile Robot
NTIS | 1993
|A fuzzy logic controller for an autonomous mobile robot
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