Movement control using zero dynamics of two-wheeled inverted pendulum robot

A high-speed motion control technique of inverted pendulum robots making use of the unstability is introduced. Inverted pendulum is self-regulated system to simulate agame that a child sways up umbrella or stick. And the controller design for various pendulums have widly challenged since 1970s. And the machines for human riding using this principle were developed in the U.S. Many biped walking robots have made use of this principle. Inverted pendulums are basically controlled as they do not fold up. Shiamda et.al. have insisted an opposite idea against the basic principle. The controller they presented broke down the balance of it on purpose when it moved. In order implement the idea, the controller was designed using zero dynamics which was derived by partial feedback linearization that controled the tilt angle of the robot. However, the robot can only move straightly. This paper introduces the extended motion including revolving and curve motion by using nonlinear control theory. Furthermore, it shows the simulation and experimental results for validity.