1P2-C05 Development of Wheeled Inverted Pendulum Type Humanoid Robot with the Equivalent Upper Body D.O.F to Human : Mechanism design and implementation of control system

2015 ◽  
Vol 2015 (0) ◽  
pp. _1P2-C05_1-_1P2-C05_3
Author(s):  
Seonghee JEONG ◽  
Masatsugu IRIBE
Keyword(s):  
Control System ◽  
Mechanism Design ◽  
Humanoid Robot ◽  
Inverted Pendulum ◽  
Upper Body ◽  
Design And Implementation ◽  
Wheeled Inverted Pendulum

Sliding Mode Control for Wheeled Inverted Pendulum

2014 ◽  
Vol 971-973 ◽  
pp. 714-717 ◽  
Author(s):  
Xiang Shi ◽  
Zhe Xu ◽  
Qing Yi He ◽  
Ka Tian
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
High Performance ◽  
Inverted Pendulum ◽  
Sliding Mode ◽  
Experimental Results ◽  
Control Law ◽  
Collaborative Simulation ◽  
Mode Control ◽  
Wheeled Inverted Pendulum

To control wheeled inverted pendulum is a good way to test all kinds of theories of control. The control law is designed, and it based on the collaborative simulation of MATLAB and ADAMS is used to control wheeled inverted pendulum. Then, with own design of hardware and software of control system, sliding mode control is used to wheeled inverted pendulum, and the experimental results of it indicate short adjusting time, the small overshoot and high performance.

Dynamic Effects of Obstacles on Two-Wheeled Inverted-Pendulum Transporters

2015 ◽  
Author(s):  
John Harber ◽  
Christopher Adams ◽  
Arnoldo Castro ◽  
William Singhose
Keyword(s):  
Experimental Investigation ◽  
Control System ◽  
Inverted Pendulum ◽  
Mechanical Design ◽  
Vertical Direction ◽  
Dynamic Effects ◽  
Operating Environment ◽  
Wheeled Inverted Pendulum ◽  
Approach Speed ◽  
Small Footprint

Two-wheeled inverted pendulums can be used as personal transporters. Their maneuverability and small footprint give them some desirable properties for this application. However, given the unstable mechanical design and the complicated control system that is required, inverted pendulums make complex and unexpected motions in response to both movements of the rider and disturbances from the operating environment. These complex motions lead to dynamic hazards that may cause the rider to fall off or the device to fall over. To better understand some of the complex motions, the response of a two-wheeled inverted-pendulum transporter traveling over bumps of various sizes is studied. Three effects of riding over bumps are demonstrated through an experimental investigation. When striking a bump, the transporter may bounce in the vertical direction, depending on the approach speed and size of the bump. Bumps also cause the transporter to pitch forward. When striking a bump with one wheel, the transporter turns towards the bump. All three effects can act to destabilize the machine and rider.

NATURAL BEHAVIOR GENERATION FOR HUMANOID ROBOTS

2004 ◽  
Vol 01 (04) ◽  
pp. 637-649
Author(s):  
TAKAHIRO MIYASHITA ◽  
HIROSHI ISHIGURO
Keyword(s):  
Humanoid Robot ◽  
Inverted Pendulum ◽  
Humanoid Robots ◽  
Communication Behavior ◽  
Hybrid Generation ◽  
Natural Behavior ◽  
Hybrid Controller ◽  
Wheeled Inverted Pendulum ◽  
Almost All ◽  
Task Oriented

Human behaviors consist of both voluntary and involuntary motions. Almost all behaviors of task-oriented robots, however, consist solely of voluntary motions. Involuntary motions are important for generating natural motions like those of humans. Thus, we propose a natural behavior generation method for humanoid robots that is a hybrid generation between voluntary and involuntary motions. The key idea of our method is to control robots with a hybrid controller that combines the functions of a communication behavior controller and body balancing controllers. We also develop a wheeled inverted pendulum type of humanoid robot, named "Robovie-III," in order to generate involuntary motions like oscillation. This paper focuses on the system architecture of this robot. By applying our method to this robot and conducting preliminary experiments, we verify its validity. Experimental results show that the robot generates both voluntary and involuntary motions.

Human-Friendly Robots for Entertainment and Education

2012 ◽  
pp. 130-153 ◽  
Author(s):  
Jorge Solis ◽  
Atsuo Takanishi
Keyword(s):  
Mechanism Design ◽  
Inverted Pendulum ◽  
Autonomous Robots ◽  
Control Strategies ◽  
Market Size ◽  
Industrial Environment ◽  
Average Consumer ◽  
Aging Society ◽  
Wheeled Inverted Pendulum ◽  
Education Levels

Even though the market size is still small at this moment, applications of robots are gradually spreading out from the manufacturing industrial environment to face other important challenges, like the support of an aging society and to educate the new generations. The development of human-friendly robots drives research that aims at autonomous or semi-autonomous robots that are natural and intuitive for the average consumer to interact with, communicate with, and work with as partners, besides learning new capabilities. In this chapter, an overview of research done on the mechanism design and intelligent control strategies implementation on different platforms and their application to entertainment and education domains will be stressed. In particular, the development of an anthropomorphic saxophonist robot (designed to mechanically reproduce the organs involved during saxophone playing) and the development of a two-wheeled inverted pendulum (designed to introduce the principles of mechanics, electronics, control, and programming at different education levels) will be presented.

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