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| Content Provider | Springer Nature Link |
|---|---|
| Author | Jeong, Seonghee Takahashi, Takayuki |
| Copyright Year | 2008 |
| Abstract | This paper describes the design concept of the human assistant robot I-PENTAR (Inverted PENdulum Type Assistant Robot) aiming at the coexistence of safety and work capability and its mobile control strategy. I-PENTAR is a humanoid type robot which consists of a body with a waist joint, arms designed for safety, and a wheeled inverted pendulum mobile platform. Although the arms are designed low-power and lightweight for safety, it is able to perform tasks that require high power by utilizing its self-weight, which is the feature of a wheeled inverted pendulum mobile platform. I-PENTAR is modeled as a three dimensional robot; with controls of inclination angle, horizontal position, and steering angle to achieve high mobile capability. The motion equation is derived considering the non-holonomic constraint of the two-wheeled mobile robot, and a state feedback control method is applied for basic mobile controls wherein the control gain is calculated by the LQR method. Through several experiments of balancing, linear running, and steering, it was confirmed that the robot could realize stable mobile motion in a real environment by the proposed controller. |
| Starting Page | 313 |
| Ending Page | 320 |
| Page Count | 8 |
| File Format | |
| ISSN | 18612776 |
| Journal | Intelligent Service Robotics |
| Volume Number | 1 |
| Issue Number | 4 |
| e-ISSN | 18612784 |
| Language | English |
| Publisher | Springer-Verlag |
| Publisher Date | 2008-05-29 |
| Publisher Place | Berlin, Heidelberg |
| Access Restriction | One Nation One Subscription (ONOS) |
| Subject Keyword | Inverted pendulum robot Mobile control Assist robot Vibration, Dynamical Systems, Control User Interfaces and Human Computer Interaction Control Engineering Artificial Intelligence (incl. Robotics) Automation and Robotics |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Mechanical Engineering Computational Mechanics |
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