The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Development of Two Wheeled Car-like Mobile Robot Using Balancing Mechanism : BalBOT VII

밸런싱 메커니즘을 이용한 이륜형 자동차 형태의 이동로봇개발 : BalBOT VII

  • 이형직 (충남대학교 메카트로닉스공학과) ;
  • 정슬 (충남대학교 메카트로닉스공학과)
  • Received : 2009.09.11
  • Accepted : 2009.11.18
  • Published : 2009.11.30
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Abstract

This paper presents the development and control of a two wheeled car-like mobile robot using balancing mechanism whose heading control is done by turning the handle. The mobile inverted pendulum is a combined system of a mobile robot and an inverted pendulum system. 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. Experimental studies of the trajectory following control task has been conducted by command of steering wheel while balancing.

Keywords

References

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