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Two-Wheel Balancing Robot Foot Plate Control Using Series Elastic Actuator

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Intelligent Robotics and Applications (ICIRA 2020)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 12595))

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Abstract

Controlling foot plate on two-wheel balancing robot, system can compensate outer force and it makes system safer. Compared to a wide usage of personal mobility, it has large possibility of getting accident. So, system proposed in this paper attached Series Elastic Actuator (SEA) between robot body and foot plate to control foot plate and it can deal with several situations. The experiment conducts with 20 kg weight on the right side of footplate. The result of experiment shows that system can compensate the outer force. We expect that controlling foot plate can deal well with hard driving situations (uneven road drive, high speed curve drive, etc.).

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Acknowledgment

This paper was supported by Korea Institute for Advancement of Technology (KIAT) grant funded by the Korea Government (MOTIE) (P0008473, HRD Program for Industrial Innovation).

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Authors and Affiliations

  1. Department of Electrical Engineering, Pusan National University, Busan, Republic of Korea

    Yeong-keun Kwon & Jin-uk Bang

  2. Department of Electronics Engineering, Pusan National University, Busan, Republic of Korea

    Jang-myung Lee

Authors
  1. Yeong-keun Kwon
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  2. Jin-uk Bang
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  3. Jang-myung Lee
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Corresponding author

Correspondence to Jang-myung Lee .

Editor information

Editors and Affiliations

  1. University of Malaya, Kuala Lumpur, Malaysia

    Chee Seng Chan

  2. Harbin Institute of Technology, Harbin, China

    Hong Liu

  3. Shanghai Jiao Tong University, Shanghai, China

    Xiangyang Zhu

  4. Monash University, Selangor, Malaysia

    Chern Hong Lim

  5. Tsinghua University, Beijing, China

    Xinjun Liu

  6. Shenyang Institute of Automation, Shenyang, China

    Lianqing Liu

  7. Tunku Abdul Rahman University College, Kuala Lumpur, Malaysia

    Kam Meng Goh

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Kwon, Yk., Bang, Ju., Lee, Jm. (2020). Two-Wheel Balancing Robot Foot Plate Control Using Series Elastic Actuator. In: Chan, C.S., et al. Intelligent Robotics and Applications. ICIRA 2020. Lecture Notes in Computer Science(), vol 12595. Springer, Cham. https://doi.org/10.1007/978-3-030-66645-3_28

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  • DOI: https://doi.org/10.1007/978-3-030-66645-3_28

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-66644-6

  • Online ISBN: 978-3-030-66645-3

  • eBook Packages: Computer ScienceComputer Science (R0)

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