TY - GEN
T1 - A multi-DOF two wheeled inverted pendulum robot climbing on a slope
AU - Dai, Fuquan
AU - Gao, Xueshan
AU - Jiang, Shigong
AU - Liu, Yubai
AU - Li, Jize
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/4/20
Y1 - 2014/4/20
N2 - Two wheeled inverted pendulum (TWIP) robot is widely used in various applications for its zero turning radius, small footprint and other advantages. However, the traditional TWIP robot can not keep upright when climbs or descends on a slope, which makes the operator sitting on the robot feel unsafe and uncomfortable. This paper introduces a Multi-DOF TWIP robot, which adding a movable weight to the standard TWIP robot. This robot can maintain the robot body upright when the robot climbs or descends a slope, also when accelerate or decelerate. The complex full dynamics model of the robot is derived from the Largrange's method, and then a simplified method is proposed. Controllers for balance and velocity control are designed separately based on the simplified model. Simulation and real experiment demonstrates that this method proposed in this paper is effective.
AB - Two wheeled inverted pendulum (TWIP) robot is widely used in various applications for its zero turning radius, small footprint and other advantages. However, the traditional TWIP robot can not keep upright when climbs or descends on a slope, which makes the operator sitting on the robot feel unsafe and uncomfortable. This paper introduces a Multi-DOF TWIP robot, which adding a movable weight to the standard TWIP robot. This robot can maintain the robot body upright when the robot climbs or descends a slope, also when accelerate or decelerate. The complex full dynamics model of the robot is derived from the Largrange's method, and then a simplified method is proposed. Controllers for balance and velocity control are designed separately based on the simplified model. Simulation and real experiment demonstrates that this method proposed in this paper is effective.
UR - https://www.scopus.com/pages/publications/84949648798
U2 - 10.1109/ROBIO.2014.7090623
DO - 10.1109/ROBIO.2014.7090623
M3 - Conference contribution
AN - SCOPUS:84949648798
T3 - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
SP - 1958
EP - 1963
BT - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Y2 - 5 December 2014 through 10 December 2014
ER -