Wheeled inverted pendulum type assistant robot: inverted mobile, standing, and sitting motions

This paper describes the mobile control and the standing and sitting motions of an Inverted PENdulum type assistant robot-(I-PENTAR) aiming at the coexistence of safety and work capability. I-PENTAR consists of a body with a high powered waist joint, arms designed for safety, and a wheeled inverted...

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Bibliographic Details
Published in2007 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 1932 - 1937
Main Authors Seong Hee Jeong, Takahashi, T.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2007
Subjects
Arm
Humans
Intelligent robots
Linear feedback control systems
Mobile robots
Robot sensing systems
Safety
Stability
USA Councils
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ISBN9781424409112
142440911X
ISSN2153-0858
DOI10.1109/IROS.2007.4398961

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Summary:This paper describes the mobile control and the standing and sitting motions of an Inverted PENdulum type assistant robot-(I-PENTAR) aiming at the coexistence of safety and work capability. I-PENTAR consists of a body with a high powered waist joint, arms designed for safety, and a wheeled inverted pendulum mobile platform. It is modeled as a three-dimensional robot with controls for inclination angle, linear position, and steering angle, and is controlled by state feedback control based on the LQR method. The motion planning of standing and sitting-important motions for an inverted pendulum type robot in practical use-is proposed. It was experimentally confirmed that I-PENTAR could realize a series of fundamental motions required in practical use, which are standing, running, turning, and sitting stably.
ISBN:9781424409112
142440911X
ISSN:2153-0858
DOI:10.1109/IROS.2007.4398961