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A Wheeled Inverted Pendulum System with an Automatic Standing Arm
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 Title & Authors
A Wheeled Inverted Pendulum System with an Automatic Standing Arm
Lee, Se-Han;
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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.
Automatic standing arm;Upright running;Wheeled inverted pendulum;
 Cited by
J. Huang, Z-H. Guan, T. Matsuno, T. Fukuda, K. Sekiyama, "Sliding-Mode Velocity Control of Mobile-Wheeled Inverted-Pendulum Systems," IEEE Transactions on Robotics, Vol. 26, No. 4, Aug. pp.750-758, 2010. crossref(new window)

S.-H. Lee, S.-Y. Rhee, "A Mixed $H_2/H_{\infty}$ Stage Feedback Controller Based on LMI Scheme for a Wheeled Inverted Pendulum running on the Inclined Road," Journal of Korean Institute of Intelligent Systems, Vol. 20, No. 5, pp.617-623, 2010. crossref(new window)



J. Searock, B. Browning, M. Veloso, "Turning Segways into Soccer Robots," Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, pp.1029-1034, 2004.

R. O. Ambrose, R. T. Savely, S. M. Goza, P. Strawser, M. A. Dftler, I. Spain, N. Radford, "Mobile Manipulation using NASA's Robonaut," Proceedings of IEEE International Conference on Robotics & Automation, New Orleans, US, pp.2104-2109, 2004.

S.-H. Lee, S.-Y. Rhee, "Development of a Moving Platform for a Upright Running Mobile Robot Based on an Inverted Pendulum Mechanism," Journal of Korean Institute of Intelligent Systems, Vol. 22, No. 5, pp.570-576, 2012. crossref(new window)

S.-H. Lee, J.-G. Kang, "A Development of the Self-Standable Mobile Robot Based on a Wheeled Inverted Pendulum Mechanism," Journal of Korean Society for Precision Engineering, Vol. 30, No. 2, pp.171-176, 2013. crossref(new window)