Fault detection of two wheel inverted pendulum robot with center of gravity self-adjusting mechanism

Yubai Liu; Xueshan Gao; Yu Mu; Yunqi Lv

doi:10.1109/ROBIO.2016.7866327

Fault detection of two wheel inverted pendulum robot with center of gravity self-adjusting mechanism

Yubai Liu, Xueshan Gao, Yu Mu, Yunqi Lv

School of Mechatronical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Citations (Scopus)

Abstract

In this paper, we proposed an improved PCA fault detection strategy for two wheel inverted pendulum robot with center of gravity self-adjusting mechanism. The two wheel inverted pendulum robot has its inherent advantages in mobile performance. However, the instability is also a weakness of the robot and it limits the robot application scenarios. To improve the safety and reliability of the robot, we employ the improved PCA fault detection method to detect the fault occurrence and locate the fault position according to the analysis of the robot fault phenomenon, fault cause and fault position. Finally, the simulation results based on the real time data from prototype demonstrate the effectiveness of the proposed method.

Original language	English
Title of host publication	2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	230-235
Number of pages	6
ISBN (Electronic)	9781509043644
DOIs	https://doi.org/10.1109/ROBIO.2016.7866327
Publication status	Published - 2016
Event	2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 - Qingdao, China Duration: 3 Dec 2016 → 7 Dec 2016

Publication series

Name	2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016

Conference

Conference	2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
Country/Territory	China
City	Qingdao
Period	3/12/16 → 7/12/16

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10.1109/ROBIO.2016.7866327

Cite this

Liu, Y., Gao, X., Mu, Y., & Lv, Y. (2016). Fault detection of two wheel inverted pendulum robot with center of gravity self-adjusting mechanism. In 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 (pp. 230-235). Article 7866327 (2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2016.7866327

Liu, Yubai ; Gao, Xueshan ; Mu, Yu et al. / Fault detection of two wheel inverted pendulum robot with center of gravity self-adjusting mechanism. 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 230-235 (2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016).

@inproceedings{6d649f915792484096d784488becf52c,

title = "Fault detection of two wheel inverted pendulum robot with center of gravity self-adjusting mechanism",

abstract = "In this paper, we proposed an improved PCA fault detection strategy for two wheel inverted pendulum robot with center of gravity self-adjusting mechanism. The two wheel inverted pendulum robot has its inherent advantages in mobile performance. However, the instability is also a weakness of the robot and it limits the robot application scenarios. To improve the safety and reliability of the robot, we employ the improved PCA fault detection method to detect the fault occurrence and locate the fault position according to the analysis of the robot fault phenomenon, fault cause and fault position. Finally, the simulation results based on the real time data from prototype demonstrate the effectiveness of the proposed method.",

author = "Yubai Liu and Xueshan Gao and Yu Mu and Yunqi Lv",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 ; Conference date: 03-12-2016 Through 07-12-2016",

year = "2016",

doi = "10.1109/ROBIO.2016.7866327",

language = "English",

series = "2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "230--235",

booktitle = "2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016",

address = "United States",

}

Liu, Y, Gao, X, Mu, Y & Lv, Y 2016, Fault detection of two wheel inverted pendulum robot with center of gravity self-adjusting mechanism. in 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016., 7866327, 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016, Institute of Electrical and Electronics Engineers Inc., pp. 230-235, 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016, Qingdao, China, 3/12/16. https://doi.org/10.1109/ROBIO.2016.7866327

Fault detection of two wheel inverted pendulum robot with center of gravity self-adjusting mechanism. / Liu, Yubai; Gao, Xueshan; Mu, Yu et al.
2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 230-235 7866327 (2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Fault detection of two wheel inverted pendulum robot with center of gravity self-adjusting mechanism

AU - Liu, Yubai

AU - Gao, Xueshan

AU - Mu, Yu

AU - Lv, Yunqi

PY - 2016

Y1 - 2016

N2 - In this paper, we proposed an improved PCA fault detection strategy for two wheel inverted pendulum robot with center of gravity self-adjusting mechanism. The two wheel inverted pendulum robot has its inherent advantages in mobile performance. However, the instability is also a weakness of the robot and it limits the robot application scenarios. To improve the safety and reliability of the robot, we employ the improved PCA fault detection method to detect the fault occurrence and locate the fault position according to the analysis of the robot fault phenomenon, fault cause and fault position. Finally, the simulation results based on the real time data from prototype demonstrate the effectiveness of the proposed method.

AB - In this paper, we proposed an improved PCA fault detection strategy for two wheel inverted pendulum robot with center of gravity self-adjusting mechanism. The two wheel inverted pendulum robot has its inherent advantages in mobile performance. However, the instability is also a weakness of the robot and it limits the robot application scenarios. To improve the safety and reliability of the robot, we employ the improved PCA fault detection method to detect the fault occurrence and locate the fault position according to the analysis of the robot fault phenomenon, fault cause and fault position. Finally, the simulation results based on the real time data from prototype demonstrate the effectiveness of the proposed method.

UR - http://www.scopus.com/inward/record.url?scp=85016732813&partnerID=8YFLogxK

U2 - 10.1109/ROBIO.2016.7866327

DO - 10.1109/ROBIO.2016.7866327

M3 - Conference contribution

AN - SCOPUS:85016732813

T3 - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016

SP - 230

EP - 235

BT - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016

Y2 - 3 December 2016 through 7 December 2016

ER -

Liu Y, Gao X, Mu Y, Lv Y. Fault detection of two wheel inverted pendulum robot with center of gravity self-adjusting mechanism. In 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 230-235. 7866327. (2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016). doi: 10.1109/ROBIO.2016.7866327

Fault detection of two wheel inverted pendulum robot with center of gravity self-adjusting mechanism

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