Wheeled inverted pendulum type assistant robot: design concept and mobile control

Abstract

This paper describes the design concept of the human assistant robot I-PENTAR (Inverted PENdulum Type Assistant Robot) aiming at the coexistence of safety and work capability and its mobile control strategy. I-PENTAR is a humanoid type robot which consists of a body with a waist joint, arms designed for safety, and a wheeled inverted pendulum mobile platform. Although the arms are designed low-power and lightweight for safety, it is able to perform tasks that require high power by utilizing its self-weight, which is the feature of a wheeled inverted pendulum mobile platform. I-PENTAR is modeled as a three dimensional robot; with controls of inclination angle, horizontal position, and steering angle to achieve high mobile capability. The motion equation is derived considering the non-holonomic constraint of the two-wheeled mobile robot, and a state feedback control method is applied for basic mobile controls wherein the control gain is calculated by the LQR method. Through several experiments of balancing, linear running, and steering, it was confirmed that the robot could realize stable mobile motion in a real environment by the proposed controller.

Robust Control Design for a Two-Wheeled Inverted Pendulum Mobile Robot

“…Kim 등은 Kane의 동력학식을 이용하여 이륜 도립진자 이동로봇의 동력학을 유도하고, 선형화된 모델을 구하였으며 이를 바탕으로 LQR 기법을 이용한 상태궤환 제어기를 제안하였다 [4]. Jeong과 Takahasi는 인간보조 로봇 [5]. Huang 등은 강인한 속도 제어 문제를 다루기 위해 매개변수 불확실성과 외란 등을 처 리할 수 있는 이중의 슬라이딩 모드 제어기를 제안하였다 [6].…”

Yapay Arı Kolonisi Algoritması ile Bir Arabalı Ters Sarkacın Lineer Kuadratik Kontrolü: Deneysel Bir Çalışma

“…Several substantial control systems can be modelled with the help of inverted pendulum [1]. Inverted pendulum reveals many interesting system -theoretic properties and its dynamics are fundamental for balancing problems [2,3].…”

Experimental Studies of Neural Network Control for One-Wheel Mobile Robot

“…In research on balancing robots, two-point contact mobile robots are designed and controlled [1][2][3][4][5]. A series of balancing robots has been implemented and demonstrated their performances [3][4][5].…”