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http://dx.doi.org/10.5302/J.ICROS.2013.13.1903

Balancing Control of a Ball Robot Based on an Inverted Pendulum  

Kang, Seok-Won (Department of Interdisciplinary Program in Robotics, Pusan National University)
Park, Chan-Ik (Department of Interdisciplinary Program in Robotics, Pusan National University)
Byun, Gyu-Ho (Department of Interdisciplinary Program in Robotics, Pusan National University)
Lee, Jang-Myung (School of Electronic Engineering, Pusan National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.19, no.9, 2013 , pp. 834-838 More about this Journal
Abstract
This paper proposes a new ball robot which has a four axis structure and four motors that directly actuate the ball to move or to maintain the balance of the robot. For the Balancing control, it is possible to use non-model-based controller to control simply without complex formula. All the gains of the controller are heuristically adjusted during the experiments. The tilt angle is measured by IMU sensors, which is used to generate the control input of the roll and pitch controller to make the tilt angle zero. The performance of the designed control system has been verified through the real experiments with the developed ball robot.
Keywords
ball robot; balancing control; PD control; inverted pendulum; dynamics;
Citations & Related Records
Times Cited By KSCI : 6  (Citation Analysis)
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