Title:
MOBILE ROBOT
Document Type and Number:
Japanese Patent JP2022036688
Kind Code:
A
Abstract:
To provide a mobile robot configured so that influence of inertia force generated by running can be suppressed and costs are reduced.SOLUTION: The mobile robot comprises: a gravity center calculating part 25 that calculates a gravity center of a robot main body; an inertia force calculating part 26 that calculates inertia force that is generated by acceleration/deceleration amounts in advance, when running using a running part 12; and a multi-joint arm control amount calculating part 27 that calculates a gravity center position at which a moment around the gravity center is offset by moving the gravity center, with respect to a moment around the gravity center which is calculated based on a position of the gravity center calculated by the gravity center calculating part 25 and the inertia force calculated by the inertia force calculating part 26, and calculates a control amount by which a multi-joint arm 13 is operated so that the gravity center of the robot main body matches the calculated gravity center position at which the moment around the gravity center is offset. During acceleration and deceleration by the running part, operation of the multi-joint arm 13 is controlled on the basis of the control amount calculated by the multi-joint arm control amount calculating part 27.SELECTED DRAWING: Figure 2
Inventors:
IGARASHI ATSUSHI
Application Number:
JP2020141021A
Publication Date:
March 08, 2022
Filing Date:
August 24, 2020
Export Citation:
Assignee:
TOYOTA MOTOR CORP
International Classes:
B25J5/00; B25J13/00
Attorney, Agent or Firm:
Ken Ieiri