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Indoor navigation of an inverse pendulum type autonomous mobile robot with adaptive stabilization control system

  • Chapter 12 Autonomous Robots
  • Conference paper
  • First Online:
Experimental Robotics IV

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 223))

Abstract

We are developing a wheeled inverse pendulum type autonomous mobile robot which can navigate autonomously while keeping its own balance. In this paper, we propose a robust locomotion control system for the inverse pendulum robot, which changes its control mode automatically according to the changes of operating conditions or its dynamics. This paper also reports the results of the navigation of the experimental inverse pendulum robot on which the proposed algorithm is implemented in the real indoor environment.

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References

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Author information

Authors and Affiliations

  1. Intelligent Robot Laboratory Institute of Information Sciences and Electronics, University of Tsukuba, 1-1-1 Tennodai, 305, Tsukuba, Japan

    Yun-Su Ha & Shin'ichi Yuta

Authors
  1. Yun-Su Ha
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  2. Shin'ichi Yuta
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Editor information

Oussama Khatib J. Kenneth Salisbury

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© 1997 Springer-Verlag London Limited

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Ha, YS., Yuta, S. (1997). Indoor navigation of an inverse pendulum type autonomous mobile robot with adaptive stabilization control system. In: Khatib, O., Salisbury, J.K. (eds) Experimental Robotics IV. Lecture Notes in Control and Information Sciences, vol 223. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0035242

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  • DOI: https://doi.org/10.1007/BFb0035242

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-76133-4

  • Online ISBN: 978-3-540-40942-7

  • eBook Packages: Springer Book Archive

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