Paper Abstract and Keywords |
Presentation |
2013-12-07 09:00
Standing-up and Balancing Behaviors of Android Phone Robot
-- Control of Spring-attached Wheeled Inverted Pendulum -- Jiexin Wang (Kyoto Univ), Eiji Uchibe, Kenji Doya (OIST) NLP2013-122 |
Abstract |
(in Japanese) |
(See Japanese page) |
(in English) |
In order to construct small-sized robots, it is promising to use Android phone as a brain with sensors. However, it is difficult to mount motors with high torque. In this paper, we propose a spring-attached wheeled inverted pendulum model of two-wheeled Android phone robot to overcome the limited motor torque constrain to achieve balancing and standing-up behaviors. We use a switch control system to realize the nonlinear motor control, incorporating a Linear Quadratic Regulator to stabilize the pendulum around the regulation point and several basic controllers such as simple Positive Feedback controller, Square Wave controller, and Sine Wave controller to destabilize the pendulum around the spring-affected region. The latter is able to assist the pendulum to reach the stabilizable control region. We investigate the relation between spring coefficient and control parameters. Simulation results show that our model simplifies the control of the wheeled inverted pendulum, and it is useful to develop small-sized robots. |
Keyword |
(in Japanese) |
(See Japanese page) |
(in English) |
Nonlinear System / Linear Quadratic Regulator / Wheeled Inverted Pendulum / Android Phone Robot / / / / |
Reference Info. |
IEICE Tech. Rep., vol. 113, no. 341, NLP2013-122, pp. 49-54, Dec. 2013. |
Paper # |
NLP2013-122 |
Date of Issue |
2013-11-29 (NLP) |
ISSN |
Print edition: ISSN 0913-5685 Online edition: ISSN 2432-6380 |
Copyright and reproduction |
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) |
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NLP2013-122 |
Conference Information |
Committee |
NLP |
Conference Date |
2013-12-06 - 2013-12-07 |
Place (in Japanese) |
(See Japanese page) |
Place (in English) |
City University of Hong Kong |
Topics (in Japanese) |
(See Japanese page) |
Topics (in English) |
General |
Paper Information |
Registration To |
NLP |
Conference Code |
2013-12-NLP |
Language |
English (Japanese title is available) |
Title (in Japanese) |
(See Japanese page) |
Sub Title (in Japanese) |
(See Japanese page) |
Title (in English) |
Standing-up and Balancing Behaviors of Android Phone Robot |
Sub Title (in English) |
Control of Spring-attached Wheeled Inverted Pendulum |
Keyword(1) |
Nonlinear System |
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Linear Quadratic Regulator |
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Wheeled Inverted Pendulum |
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Android Phone Robot |
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1st Author's Name |
Jiexin Wang |
1st Author's Affiliation |
Kyoto University (Kyoto Univ) |
2nd Author's Name |
Eiji Uchibe |
2nd Author's Affiliation |
Okinawa Institute of Science and Technology (OIST) |
3rd Author's Name |
Kenji Doya |
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Okinawa Institute of Science and Technology (OIST) |
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Speaker |
Author-1 |
Date Time |
2013-12-07 09:00:00 |
Presentation Time |
25 minutes |
Registration for |
NLP |
Paper # |
NLP2013-122 |
Volume (vol) |
vol.113 |
Number (no) |
no.341 |
Page |
pp.49-54 |
#Pages |
6 |
Date of Issue |
2013-11-29 (NLP) |
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