| Budget Amount *help |
¥5,590,000 (Direct Cost: ¥4,300,000、Indirect Cost: ¥1,290,000)
Fiscal Year 2013: ¥520,000 (Direct Cost: ¥400,000、Indirect Cost: ¥120,000)
Fiscal Year 2012: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2011: ¥3,510,000 (Direct Cost: ¥2,700,000、Indirect Cost: ¥810,000)
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| Research Abstract |
This study deals with the development of wheeled inverted pendulum robot. The feature is that the derivation of exact model which consists of equation of motion and block diagrams expressing the structure and behavior of the robot. It means to present the theoretical and systematic mathod of development. Derivation of the equation of motion was performed considering the characterisics of rotors of mounted electrical motors and special pysical constraints. The system identification experiment was performed in order to acqire real phisical parameters. Furthermore, the localization technique using Kinect sensor was introduced. Finally, the multirate sampling control technique was presented. Then, the study was performed totally and successfully. Additionally, adaptive disturbance observer tecunique was presented in order to improve the control performance.
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