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, S.
PY - 2003/1/1
Y1 - 2003/1/1
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
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U2 - 10.1109/CIRA.2003.1222065
DO - 10.1109/CIRA.2003.1222065
M3 - Conference contribution
AN - SCOPUS:34250683971
T3 - Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA
SP - 67
EP - 72
BT - Proceedings - 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2003
Y2 - 16 July 2003 through 20 July 2003
ER -