Skip to main content
SpringerLink
Log in

Two types of coaxial self-balancing robots

  • Published:
Journal of Central South University Aims and scope Submit manuscript

Abstract

Two types of coaxial self-balancing robots (CSBR) were proposed, one can be used as a mobile robot platform for parts transporting in unmanned factory or as an inspector in dangerous areas, and the other can be used as a personal transporter ridden in cities. Mechanical designing and control structures as well as control strategies were described and compared in order to get a general way to develop such robots. A state feedback controller and a fuzzy controller were designed for the robot using DC servo motors and the robot using torque motors, respectively. The experiments indicate that the robots can realize various desired operations smoothly and agilely at the velocity of 0.6 m/s with an operator of 65 kg. Furthermore, the robustness of the controllers is revealed since these controllers can stabilize the robot even with unknown external disturbances.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. TSAI C, JU S, HSIEH S. Trajectory tracking of a self-balancing two-wheeled robot using backstepping sliding-mode control and fuzzy basis function networks [C]// Proceedings of IEEE International Conference on Intelligent Robots and Systems. Taipei: IEEE, 2010: 3943–3948.

    Google Scholar 

  2. GRASSER F, D’RRIGO A, COLOMBI S, RUFER, A C. JOE: A mobile, inverted pendulum [J]. IEEE Transactions on Industrial Electronics, 2002, 49(1): 107–114.

    Article  Google Scholar 

  3. KO A, LAU H Y K, LAU T L. SOHO security with mini self-balancing robots [J]. Industrial Robot, 2005, 32(6): 492–498.

    Article  Google Scholar 

  4. SASAKI M, YANAGIHARA N, MATSUMOTO O, KOMORIYA K. Forward and backward motion control of personal riding-type wheeled mobile platform [C]// Proceedings of IEEE International Conference on Robotics and Automation. New Orleans: IEEE, 2004: 3331–3336.

    Google Scholar 

  5. SASAKI M, YANAGIHARA N, MATSUMOTO O, KOMORIYA K. Steering control of the personal riding-type wheeled mobile platform (PMP) [C]// Proceedings of IEEE International Conference on Intelligent Robots and Systems. Edmonton: IEEE, 2005: 1697–1702.

    Google Scholar 

  6. NGUYER H G, MORRELL J, MULLENS K, BURMEISTER A B, MILES S, FARRINGTON N, THOMAS K M, GAGE D W. Segway robotic mobility platform [C]// Proceedings of Mobile Robots XVII.Philadelphia: SPIE, 2004: 207–220.

    Google Scholar 

  7. SAWATZKY B, DENISON I, TAWASHY A. The segway for people with disabilities: Meeting clients’ mobility goals [J]. American Journal of Physical Medicine & Rehabilitation, 2009, 88(6): 484–490.

    Article  Google Scholar 

  8. BROWNING B, SEAROCK J, RYBSKI P E, VELOSO M. Turning Segways into soccer robots [J]. Industrial Robot, 2005, 32(2): 149–156.

    Article  Google Scholar 

  9. BROWNING B, RYBSKI P E, SEAROCK J, VELOSO M M. Development of a soccer-playing dynamically-balancing mobile robot [C]// Proceedings of IEEE International Conference on Robotics and Automation. New Orleans: IEEE, 2004: 1752–1757.

    Google Scholar 

  10. AMBROSE R O, SAVELY R T, GOZA S M, STRAWER P, DIFTLER M A, SPAIN I, RADFORD N. Mobile manipulation using NASA’s Robonaut [C]// Proceedings of IEEE International Conference on Robotics and Automation. New Orleans: IEEE, 2004: 2104–2109.

    Google Scholar 

  11. CHOI D, OH J H. Human-friendly motion control of a wheeled inverted pendulum by reduced-order disturbance observer [C]// Proceedings of IEEE International Conference on Robotics and Automation. Pasadena: IEEE, 2008: 2521–2526.

    Google Scholar 

  12. MORELL J B, FIELD D. Design of a closed loop controller for a two wheeled balancing transporter [C]// Proceedings of IEEE International Conference on Intelligent Robots and Systems. San Diego: IEEE, 2007: 4059–4064.

    Google Scholar 

  13. URAKUBO T, OKUMA K, TADA Y. Feedback control of a two wheeled mobile robot with obstacle avoidance using potential functions [C]// Proceedings of IEEE International Conference on Intelligent Robots and Systems. Sendai: IEEE, 2428–2433.

  14. PATHAK K, FRANCH J, Agrawal S K. Velocity and position control of a wheeled inverted pendulum by partial feedback linearization [J]. IEEE Transactions on Robotics, 2005, 21(3): 505–513.

    Article  Google Scholar 

  15. LI Chao-quan, GAO Xue-shan, HUANG Qiang, DAI Fu-quan; SHAO Jie, BAI Yang, LI Ke-jie. A coaxial couple wheeled robot with T-S fuzzy equilibrium control [J]. Industrial Robot, 2011, 38(3): 292–300.

    Article  Google Scholar 

  16. TSAI C C, HUANG H C, LIN Shui-chun. Adaptive neural network control of a self-balancing two-wheeled scooter [J]. IEEE Transactions on Industrial Electronics, 2010, 57(4): 1420–1428.

    Article  Google Scholar 

  17. ZHOU Hai-bo, YING Hao, DUAN Ji-an. Adaptive control using interval type-2 fuzzy logic for uncertain nonlinear systems [J]. Journal of Central South University of Technology 2011, 18, 760–766.

    Article  Google Scholar 

  18. HUANG Cheng-hao, WANG Wen-june, CHIU C H. Design and implementation of fuzzy control on a two-wheel inverted pendulum [J]. IEEE Transactions on Industrial Electronics, 2011, 58(7): 2988–3001.

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China

    Xue-shan Gao  (高学山) & Fu-quan Dai  (戴福全)

  2. State Key Laboratory of Robotics and System (Harbin Institute of Technology), Harbin, 150001, China

    Xue-shan Gao  (高学山)

  3. School of Mechanical and Automotive Engineering, Fujian University of Technology, Fuzhou, 350108, China

    Fu-quan Dai  (戴福全)

  4. Navigation and Control Institute of China North Industries Group Corporation, Beijing, 100089, China

    Chao-quan Li  (李潮全)

Authors
  1. Xue-shan Gao  (高学山)
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Fu-quan Dai  (戴福全)
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Chao-quan Li  (李潮全)
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Xue-shan Gao  (高学山).

Additional information

Foundation item: Project(61273344) supported by the National Natural Science Foundation of China; Project(SKLRS-2010-ZD-40) supported by the State Key Laboratory of Robotics and Systems (HIT), China; Project(2008AA04Z208) supported by the National Hi-tech Research and Development Program of China; Project(20121101110011) supported by PhD Program Foundation of Ministry of Education, China

Rights and permissions

Reprints and permissions

About this article

Cite this article

Gao, Xs., Dai, Fq. & Li, Cq. Two types of coaxial self-balancing robots. J. Cent. South Univ. 20, 2981–2990 (2013). https://doi.org/10.1007/s11771-013-1822-2

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11771-013-1822-2

Key words

Search

Navigation