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

Sungchul Kang, Mihee Nam, Bongsuk Kim, T. Tsubouchi, S. 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 - 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation
Subtitle of host publicationComputational Intelligence in Robotics and Automation for the New Millennium
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages67-72
Number of pages6
ISBN (Electronic)0780378660
DOIs
Publication statusPublished - 2003 Jan 1
Event2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2003 - Kobe, Japan
Duration: 2003 Jul 162003 Jul 20

Publication series

NameProceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA
Volume1

Other

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

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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 - 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation: Computational Intelligence in Robotics and Automation for the New Millennium (pp. 67-72). [1222065] (Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA; Vol. 1). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CIRA.2003.1222065