Frame Angular Velocity Control Design of SGCMG for Unmanned Two-Wheeled Motorcycle

Design and control of Two-Wheeled Inverted Pendulum Mobile Robot

This paper addresses design and path following control problem of a nonholonomic Two-Wheeled Inverted Pendulum Mobile Robot. We propose control architecture based on two control layers. A speed inner loop control scheme is first designed based on state feedback technique to ensure stability of the inverted structure of the robot. A second outer loop control scheme is proposed to help the robot ...

Design and Control of a Two-Wheeled Robotic Walker

Design and Hybrid Control of a Two Wheeled Robotic Platform

As the level of human interaction with robotic systems increases, robot mobility becomes more important. Two wheeled robots offer higher levels of mobility and manoeuvrability when compared to their four wheeled counterparts with the ability to turn on the spot and easily negotiate tight corners. Whilst the stabilisation of two wheeled platforms has been well studied, there is no published rese...

Design of Cascade Observers for Robot Angular Link Velocity

A new observer, namely a cascade observer, for a general class of nonlinear SISO systems was presented by the authors [1]. Inspired by but different from a highgain observer, the cascade observer features a cascade structure and adaptive observer gains. In doing so the cascade observer attempts to overcome some of the typical problems that may pose to a high-gain observer. Based on the cascade ...

Mechanical and biomechanical analysis of a linear piston design for angular-velocity-based orthotic control.

A linear piston hydraulic angular-velocity-based control knee joint was designed for people with knee-extensor weakness to engage knee-flexion resistance when knee-flexion angular velocity reaches a preset threshold, such as during a stumble, but to otherwise allow free knee motion. During mechanical testing at the lowest angular-velocity threshold, the device engaged within 2 degrees knee flex...