G.H. Lee, S.J. Lee, and S. Jung (Korea)
Mobile inverted pendulum system, Balancing robot
This paper presents design and development of a balancing robot as a series of BalBots. The balancing robot, BalBot IV has a mobile inverted pendulum structure. The BalBot IV is designed to carry humanoid upper arms. The robot is required to follow a line on the floor using visual feedback while maintaining the balance. The line is captured by a camera and presented as the desired trajectory for the BalBot to follow. The controller is designed to have robust tracking performances of balancing with sensor fusion. Experimental studies are conducted to show the performances of BalBot IV.
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