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Wheeled inverted pendulum (WIP) models have been widely used in the field of autonomous robotics and intelligent vehicles. A novel transportation system, WIP-car is proposed in this paper, which is composed of a mobile wheeled inverted pendulum system, a driven chair, an acceleration pedal and a deceleration pedal, which are used to drive the chair forward or backward such that the car can be accelerated...
Numerous service robots have wheels for motion. Robots with wheels move stably in a 2D plane. At the moment of acceleration, various methods for maintaining stability are required. Most four-wheeled service robots have low velocity and acceleration because of their high center of mass. For high speed and dynamic movement, we need control methods to stabilize the robots. One of the fastest service...
Modeling using Lagrange equation of 1st kind and state-space control of a real inverse pendulum is considered. The mathematical model of the pendulum is derived and compared with measurements of the real system. The negative influence of the dry friction was considered and the oscillation was successfully reduced.
Two wheel mobile manipulator has the potential to become multi-skilled robot in the field of robotics engineering and it is already implemented by using inverted pendulum control. Centre of gravity position is controlled to achieve the balancing of robot. Due to the unbalanced nature and the nonholonomic property of the two-wheel mobile manipulator, balancing is challenging task. On the other hand...
In this paper, we propose a new example of non-holonomic mobile robot, which we call the surface walker. This robot is composed of a hemisphere-shaped shell and a 2-d.o.f. mass-control device (pendulum) inside it, and undergoes the rolling contact constraint between the hemispherical surface of the robot and the ground. Unlike a lot of non-holonomic robots which have ever been researched, the drift...
Two wheel mobile manipulator has the potential of becoming a multi-skilled robot in the field of robotics and it is already implemented by using inverted pendulum control. Centre of gravity position (COG) is controlled to achieve the balancing of robot. Since vibration of manipulator arms affect to the COG positions of the inverted pendulum, balancing of the robot deteriorates. Therefore, vibration...
This article presents the application of mobile inverted pendulum systems to design Boxingbots for robot boxing games. Intelligent control algorithms are applied to the Boxingbot whose structure is the mobile inverted pendulum robot with arms. The Boxingbot has the combined structure of a mobile robot and an inverted pendulum system. The reference compensation technique scheme is used for not only...
We propose a low order two-channel decentralized controller design for stabilizing the multi-input multi-output linearized model of a self balancing autonomous robot. The robot model is based on a form of an inverted pendulum and the robot was constructed into a mechanical system in order to implement the stabilizing controller design.
There has been an increasing interest in a kind of underactuated mechanical systems, mobile wheeled inverted pendulum (MWIP) models, which are widely used in the field of autonomous robotics and intelligent vehicles. Robust velocity tracking problem of MWIP systems is investigated in this study. In the velocity control problem, model uncertainties accompany uncertain equilibriums, which make the controller...
In this paper, a sensor fusion technique of low cost sensors such as a gyro sensor and a tilt sensor to measure the balancing angle of the inverted pendulum robot system accurately is implemented. The complimentary filter consisting of the lowpass filter for the gyro sensor and the highpass filter for the tilt sensor are used based on the frequency response characteristics of those sensors. The Kalman...
This article presents robust control of the mobile inverted pendulum system(MIPS) whose structure is a combination of a wheeled mobile robot and an inverted pendulum with two arms. The MIPS navigates on the horizontal plane while balancing the pendulum. Control of the MIPS is difficult since the system is non-holonomic and nonlinear so that simple linear controllers may have poor performances for...
As interest is augmented about next generation Mobile Inverted Pendulum, researches are consisting very much about gyro sensor. Gyro sensor is a point sensor is used on inverted pendulum. However, it has problems that can not avoid error that happen by drift phenomenon. And the inverted pendulum technique is getting attention and there have been many researches on the Segway since the US inventor...
This paper presents development of humanoid balancing robot system whose structure is a combined system of a humanoid robot system and a mobile inverted pendulum system. The humanoid robot steps on the mobile inverted pendulum as if the humanoid robot rides the mobile robot. A new concept of the center of gravity based control method is presented. The humanoid robot on the balancing system can control...
The kinematics and dynamics relations of a non-holonomic four wheeled mobile inverted pendulum (FWMIP) are developed to investigate various control schemes for keeping the inverted pendulum in balance. The kinematics relations are developed in homogeneous coordinates. The symbolic equation of motion of the FWMIP is derived in terms of platform and rod dimensions for a list of assumptions simplifying...
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