Development of a wheeled inverted pendulum robot and a pilo experiment with master students

Jorge Solis, Atsuo Takanishi

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    6 Citations (Scopus)

    Abstract

    Since 2007; at Waseda University, we have focused our research on developing advanced educational robotic tools to introduce the understanding of principles of Robot Technology (RT) to students at different educational levels. For this purpose; we have proposed the development of a two-wheeled inverted pendulum type mobile robot. In this paper, we present the development details of the Waseda Wheeled Vehicle No. 2 Refined (WV-2R) which is composed of two actuated wheels, a 32-bit micro-controller, a mobile base, and a remote controller. A state feedback control system has been implemented to assure the robustness of the dynamic performance of the robot. A set of experiments were carried out to validate the possible educational benefits. From the experimental results, we could validate the robustness of the control system as well as verify the possible educational functions that can be implemented with the WV-2R. Finally, a preliminary field experiment with master students is detailed and discussed.

    Original languageEnglish
    Title of host publicationISMA'10 - 7th International Symposium on Mechatronics and its Applications
    Publication statusPublished - 2010
    Event7th International Symposium on Mechatronics and its Applications, ISMA'10 - Sharjah
    Duration: 2010 Apr 202010 Apr 22

    Other

    Other7th International Symposium on Mechatronics and its Applications, ISMA'10
    CitySharjah
    Period10/4/2010/4/22

    Fingerprint

    Pendulums
    Robustness (control systems)
    Robots
    Students
    Control systems
    Controllers
    State feedback
    Mobile robots
    Feedback control
    Wheels
    Robotics
    Experiments

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Mechanical Engineering

    Cite this

    Solis, J., & Takanishi, A. (2010). Development of a wheeled inverted pendulum robot and a pilo experiment with master students. In ISMA'10 - 7th International Symposium on Mechatronics and its Applications [5478438]

    Development of a wheeled inverted pendulum robot and a pilo experiment with master students. / Solis, Jorge; Takanishi, Atsuo.

    ISMA'10 - 7th International Symposium on Mechatronics and its Applications. 2010. 5478438.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Solis, J & Takanishi, A 2010, Development of a wheeled inverted pendulum robot and a pilo experiment with master students. in ISMA'10 - 7th International Symposium on Mechatronics and its Applications., 5478438, 7th International Symposium on Mechatronics and its Applications, ISMA'10, Sharjah, 10/4/20.
    Solis J, Takanishi A. Development of a wheeled inverted pendulum robot and a pilo experiment with master students. In ISMA'10 - 7th International Symposium on Mechatronics and its Applications. 2010. 5478438
    Solis, Jorge ; Takanishi, Atsuo. / Development of a wheeled inverted pendulum robot and a pilo experiment with master students. ISMA'10 - 7th International Symposium on Mechatronics and its Applications. 2010.
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