Tilting-Type Balancing Mobile Robot Platform for Enhancing Lateral Stability

In this paper, a tilting-type balancing mobile robot platform is investigated for enhancing lateral stability. In addition to pitch, yaw, and straight motion by the conventional two-wheeled inverted pendulum mechanism, it can generate roll and vertical motion by an additional tilting mechanism. The...

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Bibliographic Details
Published inIEEE/ASME transactions on mechatronics Vol. 20; no. 3; pp. 1470 - 1481
Main Authors Kwon, SangJoo, Kim, Sangtae, Yu, Jaerim
Format Journal Article
LanguageEnglish
Published IEEE 01.06.2015
Subjects
Actuators
Fasteners
Force
Inverted pendulum robot
Mobile robots
personal transporter
self-balancing
tilting vehicle
two-wheeled mobile robot
Vehicles
Wheels
Inverted pendulum robot
two-wheeled mobile robot
self-balancing
tilting vehicle
personal transporter
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Summary:In this paper, a tilting-type balancing mobile robot platform is investigated for enhancing lateral stability. In addition to pitch, yaw, and straight motion by the conventional two-wheeled inverted pendulum mechanism, it can generate roll and vertical motion by an additional tilting mechanism. The static force analysis shows that body separation tilting is more advantageous in power consumption than single body tilting, specifically when the payload to body weight is relatively small. Some design considerations are given for the determination of body structure and actuator powers. For the dynamic modeling, the titling balancing platform is assumed as a three-dimensional inverted pendulum with moving base and the nonlinear equation of motion is derived in terms of Kane's method. Then, a velocity/posture control loop is constructed, where the tilt angle reference is naturally generated according to the centrifugal force variation in following a circular path. Experimental results are given to validate the proposed mobile platform with the tilting control strategy.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2014.2364204