Two wheeled inverted pendulum (TWIP) robots are used widely for personal transporters and robotics mobile platforms. However, the robot body cannot remain vertical when TWIP robot climbs up and down a slope. It makes the passenger sitting on the robot uncomfortably and unsafely. Similarly, when TWIP robot turns sharply, there is a great risk of overturning. A multi-DOF TWIP robot is proposed in this paper, which has two more DOFs compared with traditional TWIP robot. Therefore, this robot has advantages in comfort and safety by reconfiguring the center of gravity in certain situations. The principles of the two DOFs are analyzed and simulated in this paper.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Design and control of a multi-DOF two wheeled inverted pendulum robot


    Contributors:
    Dai, Fuquan (author) / Li, Jize (author) / Peng, Jinmin (author) / Zhu, Zhihong (author) / Jiang, Shigong (author) / Gao, Xueshan (author)


    Publication date :

    2014-06-01


    Size :

    1355643 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Position Control for Half-Drone Wheeled Inverted Pendulum Robot

    Hoji, Rintaro / Maeyama, Shoichi / Kono, Takuro et al. | British Library Conference Proceedings | 2021


    Velocity control of mobile wheeled inverted pendulum

    Mao,L. / Huang,J. / Ding,F. et al. | Automotive engineering | 2013


    INVERTED PENDULUM TYPE TWO-WHEELED VEHICLE

    TAKAGI TAKAFUMI / SEGAWA MASAYA | European Patent Office | 2015

    Free access

    A multi-DOF two wheeled inverted pendulum robot climbing on a slope

    Dai, Fuquan / Gao, Xueshan / Jiang, Shigong et al. | IEEE | 2014