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Implementation and Control of a Bistable Two-Wheeled Inverted Pendulum-Type Mobile Robot

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Robot Intelligence Technology and Applications 4

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 447))

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Abstract

In the past decade, there have been a lot of researches on various models and controllers for two-wheeled inverted pendulum-type mobile robots. Two-wheeled inverted pendulum-type mobile robots are suitable for the service robots working both in the indoor and outdoor environments. In this paper, a bistable two-wheeled mobile robot which can tilt up and down (B-TMR) is designed and implemented. The B-TMR remedies the weak points of two-wheeled inverted pendulum-type mobile robots. The robot body is designed to maintain balancing state and tilted state. Cost efficiency is improved by using a single accelerometer with a Butterworth filter in order to measure inclined angle. To control five motion modes (Mode 1—Balancing; Mode 2—Tilt Up; Mode 3—Tilt Down; Mode 4—Tilted Move; Mode 5 - Balancing Move), a mode-selective controller is proposed. Through various experiments, the proposed hardware and controller are validated.

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Acknowledgments

The student was supported by Ministry of Land, Infrastructure and Transport (MOLIT) as U-City Master and Doctor Course Grant Program.

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Authors and Affiliations

  1. Department of Civil and Environmental Engineering, KAIST, Daejeon, 305-701, Korea

    Kwangyik Jung & Hyun Myung

  2. Department of Electrical Engineering, KAIST, Daejeon, 305-701, Korea

    Byung Kook Kim

Authors
  1. Kwangyik Jung
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  2. Byung Kook Kim
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  3. Hyun Myung
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Corresponding author

Correspondence to Kwangyik Jung .

Editor information

Editors and Affiliations

  1. Electrical Engineering, Korea Advanced Institute of Science & Technology, Daejeon, Korea (Republic of)

    Jong-Hwan Kim

  2. Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, Ontario, Canada

    Fakhri Karray

  3. School of Information and Communication Technology, Griffith University, Gold Coast, Queensland, Australia

    Jun Jo

  4. Center for Intelligent Technologies, Technical University of Kosice, Kosice, Slovakia

    Peter Sincak

  5. Civil and Environmental Engineering, Korea Advanced Institute of Science & Technology, Daejeon, Korea (Republic of)

    Hyun Myung

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Jung, K., Kim, B.K., Myung, H. (2017). Implementation and Control of a Bistable Two-Wheeled Inverted Pendulum-Type Mobile Robot. In: Kim, JH., Karray, F., Jo, J., Sincak, P., Myung, H. (eds) Robot Intelligence Technology and Applications 4. Advances in Intelligent Systems and Computing, vol 447. Springer, Cham. https://doi.org/10.1007/978-3-319-31293-4_14

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  • DOI: https://doi.org/10.1007/978-3-319-31293-4_14

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-31291-0

  • Online ISBN: 978-3-319-31293-4

  • eBook Packages: EngineeringEngineering (R0)

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