Development of the two-wheeled inverted pendulum type mobile robot WV-2R for educational purposes

Jorge Solis, Ryu Nakadate, Yuki Yoshimura, Yuichiro Hama, Atsuo Takanishi

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

    12 Citations (Scopus)

    Abstract

    The rapidly increase of personal robotic platforms and their applications in Japan represents a great challenge for universities to introduce undergraduate students the basic knowledge required to develop intelligent automated mechanisms. For this purpose; in this paper, we are presenting our approach to introduce first year undergraduate students of the Department of Modern Mechanical Engineering the basics of robotics systems. In order to foster the creativity of undergraduate students of engineering fields, we focused in developing an education tool designed to introduce at different educational levels the principle of developing mechatronic systems. In particular, the development of an inverted pendulum mobile robot Waseda Wheeled Vehicle No. 2 (WV-2R) has been proposed. Different kinds of experiments were proposed to confirm the possibility of implementing controllers as well as changing physical properties of the system to observe differences on the response of the system. From the experimental results, we could confirm the effectiveness of the proposed systems to control the angle of pendulum respect to the body base as well as by changing the radius of the wheel.

    Original languageEnglish
    Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
    Pages2347-2352
    Number of pages6
    DOIs
    Publication statusPublished - 2009 Dec 11
    Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO
    Duration: 2009 Oct 112009 Oct 15

    Other

    Other2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
    CitySt. Louis, MO
    Period09/10/1109/10/15

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    ASJC Scopus subject areas

    • Artificial Intelligence
    • Computer Vision and Pattern Recognition
    • Human-Computer Interaction
    • Control and Systems Engineering

    Cite this

    Solis, J., Nakadate, R., Yoshimura, Y., Hama, Y., & Takanishi, A. (2009). Development of the two-wheeled inverted pendulum type mobile robot WV-2R for educational purposes. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 (pp. 2347-2352). [5354088] https://doi.org/10.1109/IROS.2009.5354088