Modeling and Control of a Personal Care Robot Considering Posture Adjustment

In this paper, we propose an upper body posture adjust mechanism for our personal care robot. First, we review the related work on the development and control of mobile humanoid robots. Confronting the fact that little research has been carried out considering coordinated control of the upper and lower body, we present a posture adjust system which generates upper body configurations with respect to the acceleration of the mobile platform. As a result, the robot can behave with higher stability and additional personality during navigation tasks. In addition, evaluation experiments in real household scenarios prove that the proposed approach works as expected.