Affiliations: Graduate School of Engineering, Aichi Institute of Technology, Toyota, Japan
Correspondence:
[*]
Corresponding author: Yoshihisa Uchida, Aichi Institute of Technology, Toyota 4700392, Japan. E-mail:uchidayoshihisa@aitech.ac.jp
Abstract: The multi-purpose module system (MMS), a modular robot,
comprises joint and function modules. It is possible to transform the MMS
into the series-connected and the quadruped forms. This study presents a
quadruped form MMS (MMS-G03). In particular, modeling and simulation of
MMS-G03 for attitude control is discussed. Two attitude control methods are
proposed based on an inverted pendulum model using a state feedback control
scheme. The effects of the two methods are evaluated. According to the
results, the attitude angle approached the target angle and converged. The
attitude angle increased upon increasing the weight rate in both control
methods because of the increase in the moment of inertia of body. The lifted
leg method is effective at lower leg length rates, and the supporting leg
method is effective at higher leg length rates. The usefulness of the
proposed attitude control methods was observed under various module
conditions.
Keywords: Multi-purpose module system (MMS), module robot, state feedback control
