TY - GEN
T1 - Development of a control system for a stair-climbing inverted pendulum robot
AU - Wardana, Ananta Adhi
AU - Takaki, Takeshi
AU - Aoyama, Tadayoshi
AU - Ishii, Idaku
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2017/1/9
Y1 - 2017/1/9
N2 - In this paper, we develop the control system of a stair-climbing inverted pendulum robot using a planetary wheel mechanism. The purpose of the control system is to ensure that the robot adjusts its orientation towards a given step before climbing the step and keep its main body stable before and after performing the climbing maneuver. The proposed system operates as follows. We utilize a state feedback control with a reference speed input and additional torque in order to guarantee the stability while moving and performing climbing maneuver. We use a proportional-derivative controller to control the orientation of the robot towards the stairs before climbing and to maintain the same orientation after the ascent or descent. Experimental results confirmed that the robot successfully ascended and descended the stairs by using the proposed method, even though the angles of each step's riser surface varied.
AB - In this paper, we develop the control system of a stair-climbing inverted pendulum robot using a planetary wheel mechanism. The purpose of the control system is to ensure that the robot adjusts its orientation towards a given step before climbing the step and keep its main body stable before and after performing the climbing maneuver. The proposed system operates as follows. We utilize a state feedback control with a reference speed input and additional torque in order to guarantee the stability while moving and performing climbing maneuver. We use a proportional-derivative controller to control the orientation of the robot towards the stairs before climbing and to maintain the same orientation after the ascent or descent. Experimental results confirmed that the robot successfully ascended and descended the stairs by using the proposed method, even though the angles of each step's riser surface varied.
KW - inverted pendulum robot
KW - Planetary wheel mechanism
KW - Stair-climbing robot
UR - http://www.scopus.com/inward/record.url?scp=85013113221&partnerID=8YFLogxK
U2 - 10.1109/ICA.2016.7811465
DO - 10.1109/ICA.2016.7811465
M3 - Conference contribution
AN - SCOPUS:85013113221
T3 - Proceedings of the 2016 International Conference on Instrumentation, Control, and Automation, ICA 2016
SP - 1
EP - 5
BT - Proceedings of the 2016 International Conference on Instrumentation, Control, and Automation, ICA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 International Conference on Instrumentation, Control, and Automation, ICA 2016
Y2 - 29 August 2016 through 31 August 2016
ER -