Abstract
An high-speed motion control technique of inverted pendulum robots making use of the unstability is introduced. Inverted pendulum is self-regulated system to simulate a game that a child sways up umbrella or stick. And the controller design for various pendulums have widly challenged in 1980s. After them, the machines for human riding using the same principle were developed and have been sold in U.S. And many biped walking robots have made use of the principle. Inverted pendulums are basically controlled as they do not fold up. This paper insistes an oposite idea against the basic principle. The presented controller breaks down the balance of it on purpose when it moves. That means that the controller makes use of unstability of pendulum system. And when it stops, it redresses the balance again. In order to realize the idea, the controller is designed by using partial feedback linearization that controls the tilt angle of the pendulum robot. At that time, the controller don't care the horizontal position of the robot. But the position can be controlled as a result successfuly.
| Original language | English |
|---|---|
| Title of host publication | International Workshop on Advanced Motion Control, AMC |
| Pages | 307-310 |
| Number of pages | 4 |
| Volume | 2006 |
| DOIs | |
| Publication status | Published - 2006 |
| Externally published | Yes |
| Event | 9th IEEE International Workshop on Advanced Motion Control, 2006 - Istanbul Duration: 2006 Mar 27 → 2006 Mar 29 |
Other
| Other | 9th IEEE International Workshop on Advanced Motion Control, 2006 |
|---|---|
| City | Istanbul |
| Period | 06/3/27 → 06/3/29 |
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ASJC Scopus subject areas
- Engineering(all)
Cite this
High-speed motion control of inverted pendulum robots. / Shimada, Akira; Hatakeyama, Naoya.
International Workshop on Advanced Motion Control, AMC. Vol. 2006 2006. p. 307-310 1631676.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - High-speed motion control of inverted pendulum robots
AU - Shimada, Akira
AU - Hatakeyama, Naoya
PY - 2006
Y1 - 2006
N2 - An high-speed motion control technique of inverted pendulum robots making use of the unstability is introduced. Inverted pendulum is self-regulated system to simulate a game that a child sways up umbrella or stick. And the controller design for various pendulums have widly challenged in 1980s. After them, the machines for human riding using the same principle were developed and have been sold in U.S. And many biped walking robots have made use of the principle. Inverted pendulums are basically controlled as they do not fold up. This paper insistes an oposite idea against the basic principle. The presented controller breaks down the balance of it on purpose when it moves. That means that the controller makes use of unstability of pendulum system. And when it stops, it redresses the balance again. In order to realize the idea, the controller is designed by using partial feedback linearization that controls the tilt angle of the pendulum robot. At that time, the controller don't care the horizontal position of the robot. But the position can be controlled as a result successfuly.
AB - An high-speed motion control technique of inverted pendulum robots making use of the unstability is introduced. Inverted pendulum is self-regulated system to simulate a game that a child sways up umbrella or stick. And the controller design for various pendulums have widly challenged in 1980s. After them, the machines for human riding using the same principle were developed and have been sold in U.S. And many biped walking robots have made use of the principle. Inverted pendulums are basically controlled as they do not fold up. This paper insistes an oposite idea against the basic principle. The presented controller breaks down the balance of it on purpose when it moves. That means that the controller makes use of unstability of pendulum system. And when it stops, it redresses the balance again. In order to realize the idea, the controller is designed by using partial feedback linearization that controls the tilt angle of the pendulum robot. At that time, the controller don't care the horizontal position of the robot. But the position can be controlled as a result successfuly.
UR - http://www.scopus.com/inward/record.url?scp=33751041973&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33751041973&partnerID=8YFLogxK
U2 - 10.1109/AMC.2006.1631676
DO - 10.1109/AMC.2006.1631676
M3 - Conference contribution
VL - 2006
SP - 307
EP - 310
BT - International Workshop on Advanced Motion Control, AMC
ER -