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

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

研究成果: Conference contribution

1 引用 (Scopus)

抜粋

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.

元の言語English
ホスト出版物のタイトルProceedings - 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation
ホスト出版物のサブタイトルComputational Intelligence in Robotics and Automation for the New Millennium
出版者Institute of Electrical and Electronics Engineers Inc.
ページ67-72
ページ数6
ISBN(電子版)0780378660
DOI
出版物ステータスPublished - 2003 1 1
イベント2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2003 - Kobe, Japan
継続期間: 2003 7 162003 7 20

出版物シリーズ

名前Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA
1

Other

Other2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2003
Japan
Kobe
期間03/7/1603/7/20

ASJC Scopus subject areas

  • Computational Mathematics

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  • これを引用

    Kang, S., Nam, M., Kim, B., Tsubouchi, T., & Yuta, S. (2003). A novel design and control of robotic wheeled blimp for tele-guidance. : 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; 巻数 1). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CIRA.2003.1222065