ICRA 2011 Paper Abstract


Paper WeP102.5

Jin, HongZhe (Harbin Institute of Technology), Zhao, Jie (Harbin Institute of Technology), fan, jizhuang (Robot Research Institute, Harbin Institute of Technology), Lee, Jangmyung (Busan National University, Busan, Korea)

Gain-Scheduling Control of a 6-DOF Single-Wheeled Pendulum Robot Based on DIT Parameterization

Scheduled for presentation during the Regular Sessions "Underactuated and Tendon/Wire Mechanisms II" (WeP102), Wednesday, May 11, 2011, 14:40−14:55, Room 3C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 5, 2020

Keywords Underactuated Robots, Robust/Adaptive Control of Robotic Systems, Wheeled Robots


This article presents the nonlinear dynamics and the posture stabilization controller for the single-wheeled pendulum robot (SWPR). Considering the maneuverability of SWPR, the steering is realized through the control for the inertia pendulum (IP) installed horizontally on the middle part of robot body. The feature of the control system modeling consists in a technique for which the posture stabilization control design is based on the parameterization of the dynamic interactions (DIT) between the lateral dynamics, the longitudinal dynamics, and the rotational dynamics. Simulation results showed the feasibility of the SWPR model and the control algorithm.



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