Title :
Sensor drift compensation and control of a wheeled inverted pendulum mobile robot
Author :
Imamura, Ryoko ; Takei, Toshinobu ; Yuta, Shin Ichi
Author_Institution :
Grad. Sch. of Syst. & Inf. Eng., Tsukuba Univ., Tsukuba
Abstract :
Our goal is to configure a baggage transportation system by an inverted pendulum robot and realize a navigation system. The system is consisted from two sub-systems, one is balancing-and-running control system, and the other is the navigation system, and they work with each other. In this paper, we state those systems and show some experiments for that.
Keywords :
mobile robots; nonlinear control systems; pendulums; baggage transportation system; balancing-and-running control system; navigation system; sensor drift compensation; wheeled inverted pendulum mobile robot; Control systems; Mobile robots; Motion control; Navigation; Parallel robots; Robot sensing systems; Shape control; Torque; Transportation; Wheels;
Conference_Titel :
Advanced Motion Control, 2008. AMC '08. 10th IEEE International Workshop on
Conference_Location :
Trento
Print_ISBN :
978-1-4244-1702-5
Electronic_ISBN :
978-1-4244-1703-2
DOI :
10.1109/AMC.2008.4516055
