Wheeled Blimp: Hybrid Structured Airship with Passive Wheel Mechanism for Tele-guidance Applications

Sungchul Kang, Woosub Lee, Mihee Nam, Takashi Tsubouchi, Shinichi Yuta

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

3 Citations (Scopus)

Abstract

This paper presents a novel design of indoor airship having a passive wheeled mechanism and its stationary position control. This 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 in 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 found and finally the stable control system has been successfully developed. The effectiveness of the controller is verified by experiment for the real wheeled blimp system.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages3552-3557
Number of pages6
Volume4
Publication statusPublished - 2003
Externally publishedYes
Event2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV
Duration: 2003 Oct 272003 Oct 31

Other

Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
CityLas Vegas, NV
Period03/10/2703/10/31

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ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Kang, S., Lee, W., Nam, M., Tsubouchi, T., & Yuta, S. (2003). Wheeled Blimp: Hybrid Structured Airship with Passive Wheel Mechanism for Tele-guidance Applications. In IEEE International Conference on Intelligent Robots and Systems (Vol. 4, pp. 3552-3557)