Science Links Japan | Driving Control of Inverted Pendulum Type Robot with Special Wheel adapting to Steps and Slopes.

Driving Control of Inverted Pendulum Type Robot with Special Wheel adapting to Steps and Slopes.

Accession number;02A0713961

Title;Driving Control of Inverted Pendulum Type Robot with Special Wheel adapting to Steps and Slopes.

Author; TAKAKI TAKESHI (Sci. Univ. of Tokyo, Grad. Sch.) INAGAKI EIICHI (Sci. Univ. of Tokyo)

Journal Title;Nippon Kikai Gakkai Robotikusu, Mekatoronikusu Koenkai Koen Ronbunshu

Journal Code:L0318A

ISSN:

VOL.2002;NO.Pt.5;PAGE.2P2.E02(1)-2P2.E02(2)(2002)

Figure&Table&Reference;FIG.8, REF.1

Pub. Country;Japan

Language;Japanese

Abstract;The present paper aims to design, and control of the inverted pendulum type robot with special wheel adapting to Steps and Slopes. Designed robot has arm, body, leg, and wheel for keeping posture in wheel type and rotary joint type inverted pendulum. The special wheel is used to effect the driving of steps mode. It is controlled into four states, in order to correspond the steps. In the experiment of driving for steps and slopes, the control law is checked four mode. These control law is able to perform the driving control of steps and slopes. (author abst.)

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