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

*この研究の対応する著者

研究成果: Conference contribution

19 被引用数 (Scopus)

抄録

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.

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4553-4558
ページ数6
DOI
出版ステータスPublished - 2009 12 11
外部発表はい
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 112009 10 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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