A Wheeled Inverted Pendulum System with an Automatic Standing Arm

Title & Authors
A Wheeled Inverted Pendulum System with an Automatic Standing Arm
Lee, Se-Han;

Abstract
In this study a moving platform for a mobile robot that can be traveling with a full automatic standing arm was developed. Conventional mobile robots generally may equip 4 wheels or 3 wheels with a caster wheel or independent driven wheels and have good statistic stability. When a mobile robot travels on a sharply perpendicular and narrow crossroad, it may need a special steering scheme such as going forward and backward repeatedly or it is sometimes physically impossible for the robot to go through the crossroad because of the size limit. The upright running mobile robot changes its posture to the upright posture which has a small planar area and is able to go through the crossroad. The upright control which was manually performed step by step before such as sequences of uprighting (returning), checking, and balancing, is now automated.
Keywords
Automatic standing arm;Upright running;Wheeled inverted pendulum;
Language
Korean
Cited by
References
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