| 摘要 |
<p>According to an embodiment of the present invention, a mobile robot comprises: a contact angle estimating unit which estimates a contact angle between wheels and the ground and the uncertainty of the contact angle; a traction force estimating unit which estimates traction force applying to the wheel and the uncertainty of the traction force using state variables for the wheel; a normal force estimating unit which estimates normal force applying to the wheel and the uncertainty of the normal force using the contact angle, the uncertainty of the contact angle, the traction force, and joint posture information; a friction coefficient estimating unit which estimates a friction coefficient between the wheel and the ground using the estimated traction force and the estimated normal force; a friction coefficient uncertainty estimating unit which estimates the uncertainty of the friction coefficient using the traction force and the uncertainty of the traction force, the normal force and the uncertainty of the normal force, and the friction coefficient; and a control unit which determines a friction coefficient at a point, where the uncertainty of the friction coefficient is below a threshold value and a torque provided to the wheel changes from an increasing state to a decreasing state, among friction coefficients estimated by the friction coefficient estimating unit as the maximum friction coefficient.</p> |
