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In this paper, a sensor fusion technique of low cost sensors such as a gyro sensor and a tilt sensor to measure the balancing angle of the inverted pendulum robot system accurately is implemented. The complimentary filter consisting of the lowpass filter for the gyro sensor and the highpass filter for the tilt sensor are used based on the frequency response characteristics of those sensors. The Kalman filter is used to estimate the angle based on filtered sensor data. Experimental studies of balancing and position control of the mobile inverted pendulum robot system are conducted to validate the proposed estimation method.
Date of Conference: 10-13 Feb. 2009