Abstract
We are developing a wheeled inverse pendulum type autonomous mobile robot which can navigate autonomously while keeping its own balance. In this paper, we propose a robust locomotion control system for the inverse pendulum robot, which changes its control mode automatically according to the changes of operating conditions or its dynamics. This paper also reports the results of the navigation of the experimental inverse pendulum robot on which the proposed algorithm is implemented in the real indoor environment.
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References
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© 1997 Springer-Verlag London Limited
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Ha, YS., Yuta, S. (1997). Indoor navigation of an inverse pendulum type autonomous mobile robot with adaptive stabilization control system. In: Khatib, O., Salisbury, J.K. (eds) Experimental Robotics IV. Lecture Notes in Control and Information Sciences, vol 223. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0035242
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DOI: https://doi.org/10.1007/BFb0035242
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Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-76133-4
Online ISBN: 978-3-540-40942-7
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