Title :
Development of an autonomous inverted pendulum mobile robot for outdoor environment
Author :
Igarashi, H. ; Saito, Takashi ; Kinjyo, T. ; Matsuno, Fumitoshi
Author_Institution :
Dept. of Mech. Eng. & Intell. Syst., Univ. of Electro-Commun., Chofu
Abstract :
This paper describes our work on the development of an outdoor mobile robot, designed for participation in the Real World Robot Challenge contest (Tsukuba Challenge). The robot consists of a mobile robotic platform (Segway RMP) and several sensors to estimate global position of the robot and detect its surroundings. We describe here the hardware structure of the developed robot and the methods and algorithms used in the implementation of the sensing and control system.
Keywords :
mobile robots; nonlinear control systems; pendulums; Real World Robot Challenge contest; Segway RMP; Tsukuba Challenge; autonomous inverted pendulum mobile robot; outdoor mobile robot; Cities and towns; Control systems; Global Positioning System; Hardware; Humanoid robots; Intelligent robots; Mobile robots; Navigation; Robot sensing systems; Robotics and automation; Autonomous Mobile Robot; Dynamic self-balancing robot; Inverted pendulum; Navigation; Segway Robotic Mobility Platform;
Conference_Titel :
SICE Annual Conference, 2008
Conference_Location :
Tokyo
Print_ISBN :
978-4-907764-30-2
Electronic_ISBN :
978-4-907764-29-6
DOI :
10.1109/SICE.2008.4655044
