A novel design and control of robotic wheeled blimp for tele-guidance

Sungchul Kang, Mihee Nam, Bongsuk Kim, T. Tsubouchi, Shinichi Yuta

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

1 Citation (Scopus)

Abstract

This paper presents a novel design of indoor airship having a passive wheeled mechanism and its stationary position control. The wheeled blimp can work both on the ground using wheeled vehicle part and in the air using the floating capability of the blimp part. The wheeled blimp stands on the floor keeping its balance using a caster-like passive wheel mechanism. In tele-guidance application, stationary position control is required to make the wheeled blimp naturally communicate with people standing phase since the stationary blimp system responds sensitively to air flow even in indoor environments. To control the desired stationary position, a computed torque control method is adopted. By performing a controller design through dynamic analysis, the control characteristics of the wheeled blimp system have been successfully developed. The effectiveness of the controller is verified by experiment for the real wheeled blimp system.

Original languageEnglish
Title of host publicationProceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages67-72
Number of pages6
Volume1
ISBN (Print)0780378660
DOIs
Publication statusPublished - 2003
Externally publishedYes
Event2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2003 - Kobe, Japan
Duration: 2003 Jul 162003 Jul 20

Other

Other2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2003
CountryJapan
CityKobe
Period03/7/1603/7/20

Fingerprint

Airships
Robotics
Position control
Controllers
Torque control
Air
Dynamic analysis
Wheels

ASJC Scopus subject areas

  • Computational Mathematics

Cite this

Kang, S., Nam, M., Kim, B., Tsubouchi, T., & Yuta, S. (2003). A novel design and control of robotic wheeled blimp for tele-guidance. In Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA (Vol. 1, pp. 67-72). [1222065] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CIRA.2003.1222065

A novel design and control of robotic wheeled blimp for tele-guidance. / Kang, Sungchul; Nam, Mihee; Kim, Bongsuk; Tsubouchi, T.; Yuta, Shinichi.

Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA. Vol. 1 Institute of Electrical and Electronics Engineers Inc., 2003. p. 67-72 1222065.

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

Kang, S, Nam, M, Kim, B, Tsubouchi, T & Yuta, S 2003, A novel design and control of robotic wheeled blimp for tele-guidance. in Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA. vol. 1, 1222065, Institute of Electrical and Electronics Engineers Inc., pp. 67-72, 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2003, Kobe, Japan, 03/7/16. https://doi.org/10.1109/CIRA.2003.1222065
Kang S, Nam M, Kim B, Tsubouchi T, Yuta S. A novel design and control of robotic wheeled blimp for tele-guidance. In Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA. Vol. 1. Institute of Electrical and Electronics Engineers Inc. 2003. p. 67-72. 1222065 https://doi.org/10.1109/CIRA.2003.1222065
Kang, Sungchul ; Nam, Mihee ; Kim, Bongsuk ; Tsubouchi, T. ; Yuta, Shinichi. / A novel design and control of robotic wheeled blimp for tele-guidance. Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA. Vol. 1 Institute of Electrical and Electronics Engineers Inc., 2003. pp. 67-72
@inproceedings{a567d7a9c0834b92afae25e77ab62ff7,
title = "A novel design and control of robotic wheeled blimp for tele-guidance",
abstract = "This paper presents a novel design of indoor airship having a passive wheeled mechanism and its stationary position control. The wheeled blimp can work both on the ground using wheeled vehicle part and in the air using the floating capability of the blimp part. The wheeled blimp stands on the floor keeping its balance using a caster-like passive wheel mechanism. In tele-guidance application, stationary position control is required to make the wheeled blimp naturally communicate with people standing phase since the stationary blimp system responds sensitively to air flow even in indoor environments. To control the desired stationary position, a computed torque control method is adopted. By performing a controller design through dynamic analysis, the control characteristics of the wheeled blimp system have been successfully developed. The effectiveness of the controller is verified by experiment for the real wheeled blimp system.",
author = "Sungchul Kang and Mihee Nam and Bongsuk Kim and T. Tsubouchi and Shinichi Yuta",
year = "2003",
doi = "10.1109/CIRA.2003.1222065",
language = "English",
isbn = "0780378660",
volume = "1",
pages = "67--72",
booktitle = "Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - GEN

T1 - A novel design and control of robotic wheeled blimp for tele-guidance

AU - Kang, Sungchul

AU - Nam, Mihee

AU - Kim, Bongsuk

AU - Tsubouchi, T.

AU - Yuta, Shinichi

PY - 2003

Y1 - 2003

N2 - This paper presents a novel design of indoor airship having a passive wheeled mechanism and its stationary position control. The wheeled blimp can work both on the ground using wheeled vehicle part and in the air using the floating capability of the blimp part. The wheeled blimp stands on the floor keeping its balance using a caster-like passive wheel mechanism. In tele-guidance application, stationary position control is required to make the wheeled blimp naturally communicate with people standing phase since the stationary blimp system responds sensitively to air flow even in indoor environments. To control the desired stationary position, a computed torque control method is adopted. By performing a controller design through dynamic analysis, the control characteristics of the wheeled blimp system have been successfully developed. The effectiveness of the controller is verified by experiment for the real wheeled blimp system.

AB - This paper presents a novel design of indoor airship having a passive wheeled mechanism and its stationary position control. The wheeled blimp can work both on the ground using wheeled vehicle part and in the air using the floating capability of the blimp part. The wheeled blimp stands on the floor keeping its balance using a caster-like passive wheel mechanism. In tele-guidance application, stationary position control is required to make the wheeled blimp naturally communicate with people standing phase since the stationary blimp system responds sensitively to air flow even in indoor environments. To control the desired stationary position, a computed torque control method is adopted. By performing a controller design through dynamic analysis, the control characteristics of the wheeled blimp system have been successfully developed. The effectiveness of the controller is verified by experiment for the real wheeled blimp system.

UR - http://www.scopus.com/inward/record.url?scp=34250683971&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=34250683971&partnerID=8YFLogxK

U2 - 10.1109/CIRA.2003.1222065

DO - 10.1109/CIRA.2003.1222065

M3 - Conference contribution

AN - SCOPUS:34250683971

SN - 0780378660

VL - 1

SP - 67

EP - 72

BT - Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA

PB - Institute of Electrical and Electronics Engineers Inc.

ER -