TY - GEN
T1 - Simultaneous estimation of slope angle and handling force when getting on and off a human-riding wheeled inverted pendulum vehicle
AU - Takei, Toshinobu
AU - Matsumoto, Osamu
AU - Komoriya, Kiyoshi
PY - 2009/12/11
Y1 - 2009/12/11
N2 - 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.
AB - 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.
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U2 - 10.1109/IROS.2009.5354399
DO - 10.1109/IROS.2009.5354399
M3 - Conference contribution
AN - SCOPUS:76249094071
SN - 9781424438044
T3 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
SP - 4553
EP - 4558
BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Y2 - 11 October 2009 through 15 October 2009
ER -