Dynamic analysis of a nonholonomic two-wheeled inverted pendulum robot

Cited 93 time in webofscience Cited 0 time in scopus
  • Hit : 1186
  • Download : 3780
As a result of the increase in robots in various fields, the mechanical stability of specific robots has become an important subject of research. This study is concerned with the development of a two-wheeled inverted pendulum robot that can be applied to an intelligent, mobile home robot. This kind of robotic mechanism has an innately clumsy motion for stabilizing the robot's body posture. To analyze and execute this robotic mechanism, we investigated the exact dynamics of the mechanism with the aid of 3-DOF modeling. By using the governing equations of motion, we analyzed important issues in the dynamics of a situation with an inclined surface and also the effect of the turning motion on the stability of the robot. For the experiments, the mechanical robot was constructed with various sensors. Its application to a two-dimensional floor environment was confirmed by experiments on factors such as balancing, rectilinear motion, and spinning motion.
Publisher
SPRINGER
Issue Date
2005-09
Language
ENG
Article Type
Article
Keywords

MOBILE

Citation

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, v.44, pp.25 - 46

ISSN
0921-0296
DOI
10.1007/s10846-005-9022-4
URI
http://hdl.handle.net/10203/2647
Appears in Collection
ME-Journal Papers(저널논문)
This item is cited by other documents in WoS
⊙ Detail Information in WoSⓡ Click to see webofscience_button
⊙ Cited 93 items in WoS Click to see citing articles in records_button

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0