인문학
사회과학
자연과학
공학
의약학
농수해양학
예술체육학
복합학
DBpia AI
AI 에이전트
AI 아이디어
AI 리더
AI 뷰어
Citeasy
크롬 서지관리 다운로드
지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
피인용 0
초록·키워드
This paper studies a mobile platform system to provide a service for a large range of regions. The coverage of large service region is recently required while the service robot market is rapidly increased. Therefore, Regions of delivery/patrol/surveillance/inspection services started to include outdoor terrains as well as indoor environments. Therefore, mobile robots have to adapt uneven terrains and overcome obstacles. In this paper, we introduce a rocker-bogie typed mobile robot which is able to provide this required capability. The robot has six active driving wheels, two degrees of freedom (DoFs) for active steering, and 2 DoFs for active bogie. The linear dynamic model was derived, and practically the values for normal and traction forces are calculated through the simple pseudo-inverse technique. The compensation algorithm is added to achieve minimal friction on the bogie axis, which leads to all wheel contact with the ground through the adaptation to uneven terrains. Also, the calculated traction force is distributed to ground contact wheels based on sensor estimation. In the experiment, upright-standing and climbing a curb were demonstrated. Especially, the upright posture of the robot was verified to be controlled based on Linear Quadratic Regulator (LQR) optimization controller using inverted pendulum model.
본문·목차
인공지능 문자 인식 모델을 통해 추출된 텍스트로, 일부 오타나 오류가 포함될 수 있으나 지속적으로 개선 중입니다.
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