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

*この研究の対応する著者

研究成果: Conference contribution

15 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
ページ2347-2352
ページ数6
DOI
出版ステータスPublished - 2009 12月 11
イベント2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
継続期間: 2009 10月 112009 10月 15

出版物シリーズ

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

Conference

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

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • 人間とコンピュータの相互作用
  • 制御およびシステム工学

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