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ABSTRACT: This paper presents a mobile robot carrier designed to carry a person using two modes: a mechanism with full support and another
with partial support. The carrier is driven through guided control from an operator. Applied force is sensed by a force sensor
mounted on the bottom of the handle. The measured force is filtered by the impedance function that generates the desired velocity
to drive the motors. The inner loop PID controller is then required to follow the desired velocity, which is the reference
input to the system. The impedance function is designed to make the driving condition comfortable for the driver by smoothing
out abrupt starts and stops. Feasibility tests on the application of the impedance force control method to the carrier robot
have been performed through experimental case studies aimed at evaluating the comfort level of prospective users: one is on
a full support case when a user is riding on the carrier and another on a partial support case where the user is pushing the
carrier.
KeywordsForce control-mobile robot system-robot carrier
International Journal of Control Automation and Systems 04/2012; 8(2):361-368. · 0.75 Impact Factor
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ABSTRACT: In this paper, control of a mobile inverted pendulum robot system with the capability of carrying a human operator is developed and demonstrated. The feasibility test of `TransBot' as one of the balancing robot series in our research is presented. The balancing mechanism is used for a transportation vehicle where there are humps on the road and turning in the narrow space is required. The robot has two modes: One is a regular mobile robot mode such that stable contact (three or more point contact on the ground) is guaranteed. Another mode is the balancing mode that maintains stability with two point contact on the ground. Experimental studies of indoor and outdoor driving are conducted to make sure the feasibility of TransBOT.
World Automation Congress (WAC), 2010; 10/2010
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ABSTRACT: In this paper, a sensor fusion technique of low cost sensors such as a gyro sensor and a tilt sensor to measure the balancing angle of the inverted pendulum robot system accurately is implemented. The complimentary filter consisting of the lowpass filter for the gyro sensor and the highpass filter for the tilt sensor are used based on the frequency response characteristics of those sensors. The Kalman filter is used to estimate the angle based on filtered sensor data. Experimental studies of balancing and position control of the mobile inverted pendulum robot system are conducted to validate the proposed estimation method.
Industrial Technology, 2009. ICIT 2009. IEEE International Conference on; 03/2009
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ABSTRACT: In this paper, the mobile inverted pendulum robot system is developed and controlled. Kinematics and dynamics are derived. Frequency responses of a gyro sensor and a tilt sensor are analyzed. A sensor fusion technique is used to compensate for the gyro sensor drift. Instead of using expensive sensors, a cost effective gyro sensor and a tilt sensor are fused together by filtering to estimate angle of the pendulum. For experimental studies, circular trajectory tracking control has been performed experimentally.
Control, Automation and Systems, 2008. ICCAS 2008. International Conference on; 11/2008
