@inproceedings{755210f066a84871b2f1c56624cb315d,
title = "Mechanical design and dynamic modeling of a two-wheeled inverted pendulum mobile robot",
abstract = "The differential drive two-wheeled inverted pendulum mobile robot has advantage of high maneuverability on slopes and in narrow spaces. It can be used to carry human beings as well as other goods. This paper mainly discusses mechanical design and dynamic modeling of this type of mobile robot platform. The first prototype is 12 kg of weight with dimensions of 42{\texttimes}36{\texttimes}15 cm. A multi modal control system is developed which includes the human transport control system and goods transport control system mode. An embedded control system is implemented to control two motors for both modes. In human transport mode the master controller receives the data from the data conditioning module and generates the reference for PID controllers whereas in goods transport mode the master controller receives command from the teleoperator. The effectiveness of the developed mobile robot is confirmed by experiments such as climbing slope, pivot around and surpassing small obstacles.",
keywords = "Dynamic modeling, Inverted pendulum, Mechanical design, Mobile robot",
author = "Li Jingtao and Gao Xueshan and Huang Qiang and Du Qinjun and Duan Xingguang",
year = "2007",
doi = "10.1109/ICAL.2007.4338830",
language = "English",
isbn = "1424415314",
series = "Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2007",
pages = "1614--1619",
booktitle = "Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2007",
note = "2007 IEEE International Conference on Automation and Logistics, ICAL 2007 ; Conference date: 18-08-2007 Through 21-08-2007",
}