Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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A Development of the Self-Standable Mobile Robot Based on a Wheeled Inverted Pendulum Mechanism

자기-기립 가능한 차륜형 역진자 기구 기반의 이동로봇 개발

  • Lee, Se-Han (Division of Mechanical Engineering, Kyungnam University) ;
  • Kang, Jae-Gwan (Division of Mechanical Engineering, Kyungnam University)
  • Received : 2012.07.03
  • Accepted : 2012.11.05
  • Published : 2013.02.01
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Abstract

In this research a Self-Standable mobile Robot with standing arms based on an Wheeled Inverted Pendulum is developed. Almost existing mobile robots have wide planar shape that is statistically stable and it is sometimes hard for them to run or steer on a narrow road. A Wheeled Inverted Pendulum based mobile robot has vertical shape that is upright-running and easily steering on a narrow road. It, however, requires actively balancing control and never restores the shape once it falls down. This research develops a Self-Standable mobile robot which equips standing arms and is able to change its chassis' posture freely from planar to vertical shape or vice versa.

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References

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Cited by

  1. A Wheeled Inverted Pendulum System with an Automatic Standing Arm vol.25, pp.6, 2015, https://doi.org/10.5391/JKIIS.2015.25.6.578