Trajectory planning-based control of underactuated wheeled inverted pendulum robots
نویسندگان
چکیده
منابع مشابه
Design for Control of Wheeled Inverted Pendulum Platforms
In this paper, we study five aspects of design for wheeled inverted pendulum (WIP) platforms with the aim of understanding the effect of design choices on the balancing performance. First, we demonstrate analytically and experimentally the effect of soft visco-elastic tires on a WIP showing that the use of soft tires enhances balancing performance. Next, we study the effect of pitch rate and wh...
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ژورنال
عنوان ژورنال: Science China Information Sciences
سال: 2019
ISSN: 1674-733X,1869-1919
DOI: 10.1007/s11432-018-9623-3