@inproceedings{65037b302f194d0f96b9d06dce9cd8c7,
title = "Design and control of a multi-DOF two wheeled inverted pendulum robot",
abstract = "Two wheeled inverted pendulum (TWIP) robots are used widely for personal transporters and robotics mobile platforms. However, the robot body cannot remain vertical when TWIP robot climbs up and down a slope. It makes the passenger sitting on the robot uncomfortably and unsafely. Similarly, when TWIP robot turns sharply, there is a great risk of overturning. A multi-DOF TWIP robot is proposed in this paper, which has two more DOFs compared with traditional TWIP robot. Therefore, this robot has advantages in comfort and safety by reconfiguring the center of gravity in certain situations. The principles of the two DOFs are analyzed and simulated in this paper.",
keywords = "CGFB-DOF, Dynamics, Swing DOF, TWIP robot",
author = "Fuquan Dai and Jize Li and Jinmin Peng and Zhihong Zhu and Shigong Jiang and Xueshan Gao",
note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 11th World Congress on Intelligent Control and Automation, WCICA 2014 ; Conference date: 29-06-2014 Through 04-07-2014",
year = "2015",
month = mar,
day = "2",
doi = "10.1109/WCICA.2014.7052763",
language = "English",
series = "Proceedings of the World Congress on Intelligent Control and Automation (WCICA)",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "March",
pages = "497--502",
booktitle = "Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014",
address = "United States",
edition = "March",
}