Ananta Adhi Wardana

• Lecturer at Airlangga University

In this study, the control of a two-wheeled stair-climbing inverted pendulum robot and its climbing motion are analyzed and discussed. The robot adopts a state-feedback controller with a feed-forward constant to stabilize the body and achieve step-climbing motion. The control parameter is considered based on the dynamic model motion on a flat surfa...

In this paper, we propose the design of a single-wheeled robot capable of climbing stairs. The robot is equipped with the proposed climbing mechanism, which enables it to climb stairs. The mechanism has an extremely simple structure, comprised of a parallel arm, belt, harmonic drive, and pulley. The proposed climbing mechanism has the advantage of...

A heavy-duty vehicle (HDV) finds applications in various fields, particularly logistics and freight transportation, involving the movement of containers from ports to local warehouses and eventual delivery destinations. In smart ports, the process has been automated, necessitating the vehicle’s autonomous docking and undocking. Such a cyber-physica...

This study develops a real-world haptization system based on high-speed active vision that can virtually touch a remote human-untouchable object vibrating at the audio frequency level such as product machines operating at high speed and heated systems in factories. A high-speed active vision system can simultaneously observe small vibrations at hun...

In this paper, we developed a concept of video monitoring system using a single mirror-drive pan-tilt mechanism. The system provides multiple zoomed videos with controllable viewing angle for each zoomed video and a wide-angle video. The system can be accessed by several users by connecting their personal computer (PC) to the server PC through the...

In this paper, a stair-descent control method for a stair-climbing single-wheeled inverted pendulum robot is proposed. The objective of the control method is to ensure that the robot can descend a staircase sequentially without losing stability. The experimental results confirm that the robot successfully descends a staircase consisting of four ste...

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...

In this paper, an orientation control system of a stair-climbing inverted pendulum robot using a planetary wheel mechanism is proposed to ensure that the robot adjusts its orientation toward stairs before successful ascension. Two laser sensors are used to determine the angle of the robot relative to the stair. The experimental results confirmed th...

In this paper, an orientation control system of a stair-climbing inverted pendulum robot using a planetary wheel mechanism is proposed to ensure that the robot adjusts its orientation toward stairs before successful ascension. Two laser sensors are used to determine the angle of the robot relative to the stair. The experimental results confirmed th...

In this paper, an experiment of a novel particle filter for localization of an electric wheelchair is presented. The particle filter algorithm is modified in the sense of using a minimum number of particles, thus a low cost computation particle filter isperformed. The prediction is calculated based upon the dead reckoning methods; the estimation is...

Localization is one of many issues in mobile robot study. Localization is an essential ability for mobile robot to determine its location, so that it can plan a movement and go to a desired location. The mutual method for mobile robot localization is using a particle filter. High computation needs in particle filter is one of problem in particle fi...

The paper presents a novel wall following control of a mobile robot without orientation sensors. The problem is formulated as a path following problem of a mobile robot. The control law derived using the proposed method assure the asymptotic stabilization of the origin by using the Lyapunov method. The effectiveness of the proposed method is shown...

This paper presents the implementation of adaptive control of an electric wheelchair. The control objective is to control the velocity of the left and right wheels to follow the desired velocity commands. The equations of motion of the wheelchair are derived. This system compared the wheel rotational velocity that is measured by the encoder with th...