Simultaneous estimation of slope angle and handling force when getting on and off a human-riding wheeled inverted pendulum vehicle

Toshinobu Takei*, Osamu Matsumoto, Kiyoshi Komoriya

*Corresponding author for this work

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

19 Citations (Scopus)

Abstract

We are developing a human-riding wheeled inverted pendulum for use as a personal vehicle. To be practically usable, the vehicle requires a function that enables the rider to get on and off both safely and smoothly while on a slope of unknown angle. Concretely, for the convenience of the rider, the vehicle needs to be stabilized on an unknown slope without the rider aboard, both before the rider gets on it and after he/she gets off it. Moreover, the vehicle should be stabilized safely relative to the rider's handling force at a grip of the vehicle while getting on and off. We thus developed a method of estimating the handling force and the slope angle separately. In this paper, we report the method to estimate the handling force and the slope angle using a disturbance observer. We verified the validity of our proposed estimation method by computer simulations and experiments using a prototype of a human-riding wheeled inverted pendulum on an unknown slope.

Original languageEnglish
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages4553-4558
Number of pages6
DOIs
Publication statusPublished - 2009 Dec 11
Externally publishedYes
Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
Duration: 2009 Oct 112009 Oct 15

Publication series

Name2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Conference

Conference2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Country/TerritoryUnited States
CitySt. Louis, MO
Period09/10/1109/10/15

ASJC Scopus subject areas

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

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