By Topic

Wheeled inverted pendulum type assistant robot: inverted mobile, standing, and sitting motions

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)

This paper describes the mobile control and the standing and sitting motions of an Inverted PENdulum type assistant robot-(I-PENTAR) aiming at the coexistence of safety and work capability. I-PENTAR consists of a body with a high powered waist joint, arms designed for safety, and a wheeled inverted pendulum mobile platform. It is modeled as a three-dimensional robot with controls for inclination angle, linear position, and steering angle, and is controlled by state feedback control based on the LQR method. The motion planning of standing and sitting-important motions for an inverted pendulum type robot in practical use-is proposed. It was experimentally confirmed that I-PENTAR could realize a series of fundamental motions required in practical use, which are standing, running, turning, and sitting stably.

Published in:

Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on

Date of Conference:

Oct. 29 2007-Nov. 2 2007