Position Control for Half-Drone Wheeled Inverted Pendulum Robot

In recent years, users of online shopping have been increasing. Along with this, problems such as shortage of staff of a delivery company and the long working hours have occurred, and the burden on the delivery company is increasing. As a solution to the problem, development of a transfer robot adapted to various delivery environments is expected. In this study, we develop a half-drone wheeled inverted pendulum robot that integrates a wheel and a drone. This robot can travel efficiently in both flat plane and narrow steps without severe restrictions on the load capacity and cruising distance. This paper describes experimental results in position control on the inverted pendulum mode to verify fundamental performance of the first prototype robot.