Realization of stabilization using feed-forward and feedback controller composition method for a mobile robot

This paper concerns the composition method of a model based feedforward and sensor based feedback control realization of a mobile robot that has high center of gravity. The robot is comprised of a mobile base, which has two active wheels for locomotion, and body, which has a pitch and roll actuator connected to the mobile base. In this type of a mobile robot, the stabilization (against tip over) problem takes an important role in high performance mobility realization. The control method is explained from the viewpoint of controlling ZMP (Zero moment point). The composition control method (Model based feed-forward control and sensor based feedback control) is proposed and verified experimentally. The mobile robot’s (weighs about 96kg) mobility performance with 2m/s speed and 1m/s 2 acceleration was achieved using this approach. In addition, the sensor based feedback controller contributes to increasing stability.