In this paper, a tilting-type balancing mobile robot platform is investigated for enhancing lateral stability. In addition to pitch, yaw, and straight motion by the conventional twowheeled inverted pendulum mechanism, it can generate roll and vertical motion by an additional tilting mechanism. The static force analysis shows that body separation tilting is more advantageous in power consumption than single body tilting, specifically when the payload to body weight is relatively small. Some design considerations are given for the determination of body structure and actuator powers. For the dynamic modeling, the titling balancing platform is assumed as a three-dimensional inverted pendulum with moving base and the nonlinear equation of motion is derived in terms of Kane's method. Then, a velocity/posture control loop is constructed, where the tilt angle reference is naturally generated according to the centrifugal force variation in following a circular path. Experimental results are given to validate the proposed mobile platform with the tilting control strategy.
In this paper, we report a self-balancing robot wheelchair which has the capability of keeping upright posture regardless of the terrain inclination in terms of the three dimensional balancing motion. It has the mobility of five degrees of freedom, where pitching, yawing, and forward motions are generated by the two-wheeled inverted pendulum mechanism and the rolling and vertical motions are implemented by the movement of the tilting mechanism. Several design considerations are suggested for the sliding type vehicle body, wheel actuator module, tilting actuator module, power and control system, and the riding module.Keywords: robot wheelchair, balancing robot, tilting mechanism, inverted pendulum robot, posture control 예를 들어 RT-Mover [7] 는 사족 보행과 차륜구동 시스템을 이용하여 요철 지형에서 주행이 가능하지만 복잡한 시스 템과 차체 크기 때문에 실용화 가능성이 크지 않다.
Ibot4000[1]
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