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http://dx.doi.org/10.5302/J.ICROS.2014.13.0011

Estimate the Inclination Angle using Traveling Speed of Segway Robot on the Slope  

Jeong, Hee-In (Department of Electrical Engineering, Pusan National University)
Lee, Sang-Yong (Department of Interdisciplinary Program in Robotics, Pusan National University)
Lee, Jang-Myung (Department of Electrical Engineering, Pusan National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.20, no.11, 2014 , pp. 1164-1169 More about this Journal
Abstract
This paper proposes an angle estimation of Segway robot for the slop driving. Most of Segway robot was controlled by pose control of keeping robot's balance and motor control of driving. In motor control, we analyzed Segway robot kinetically and estimated an angle of inclination using the velocity that depends on input force. In pose control, also, we used PD controller and evaluated a stability of controller through MATLAB simulation. Assuming the robot keeps its balance stably using controller, we could linearize dynamics. We could obtain the result through the experiment which estimates an angle using the velocity of Segway robot that is derived from linearized dynamics.
Keywords
Inverted pendulum robot; dynamics; SEGWAY; PD control; two wheel pendulum;
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Times Cited By KSCI : 2  (Citation Analysis)
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