NDLI: Modeling and Experimental Testing of a Two-Wheeled Inverted-Pendulum Transporter

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Castro, Arnoldo Singhose, William Potter, James Christopher, J. Adams
Copyright Year	2012
Abstract	In recent years two-wheeled inverted pendulums have been used as personal transporters. Their maneuverability and small footprint give them desirable properties for such function. However, they are intrinscally unstable and their safety as personal transporters has not been carefully assessed. Dynamic models of these transporters should be developed, and used to investigate failure conditions that would be difficult to safely test with a real machine and human operator. This paper describes the process involved in developing and calibrating such a model. A numerical model of one of these transporters (the Segway i2) was formed and its parameters were matched to the dynamic behavior observed in experimental tests.
Sponsorship	Dynamic Systems and Control Division
Starting Page	385
Ending Page	393
Page Count	9
File Format	PDF
ISBN	9780791845301
DOI	10.1115/DSCC2012-MOVIC2012-8690
Volume Number	Volume 2: Legged Locomotion; Mechatronic Systems; Mechatronics; Mechatronics for Aquatic Environments; MEMS Control; Model Predictive Control; Modeling and Model-Based Control of Advanced IC Engines; Modeling and Simulation; Multi-Agent and Cooperative Systems; Musculoskeletal Dynamic Systems; Nano Systems; Nonlinear Systems; Nonlinear Systems and Control; Optimal Control; Pattern Recognition and Intelligent Systems; Power and Renewable Energy Systems; Powertrain Systems
Conference Proceedings	ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference
Language	English
Publisher Date	2012-10-17
Publisher Place	Fort Lauderdale, Florida, USA
Access Restriction	Subscribed
Subject Keyword	Computer simulation Pendulums Dynamic models Safety Modeling Machinery Failure Testing
Content Type	Text
Resource Type	Article

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