Toshinobu Takei

Baggage Transportation and Navigation by a Wheeled Inverted Pendulum Mobile Robot

Our goal is to configure an automatic baggage-transportation system by an inverted pendulum robot and realize a navigation function in a real environment. The system consists of two cooperative subsystems: a balancing-and-traveling control subsystem and a navigation subsystem. Position errors of the inverted pendulum robot are often caused by a drift error in the gyro sensor and a change in the center of gravity by a loaded baggage when applying the linear state feedback control method for balancing and traveling. We have reduced the position errors for navigation by resetting the balance position occasionally while traveling with simple methods without an external observer or alternative sensors. In this paper, we state the method and show the experimental results of navigation in a real environment by the implemented robot system.

Sensor drift compensation and control of a wheeled inverted pendulum mobile robot

Our goal is to configure a baggage transportation system by an inverted pendulum robot and realize a navigation system. The system is consisted from two sub-systems, one is balancing-and-running control system, and the other is the navigation system, and they work with each other. In this paper, we state those systems and show some experiments for that.

Stabilized motion of a small sized bike robot only by steering control

We are interested in making and control a small sized two-wheels bike robot and we aim to balance the robot and to lead it to desired direction only with automatic steering control. Our research purpose is to make an original small sized bike robot and to move the robot for over 300 meters in indoor corridors under the automatic steering control only. We report the making of the original small bike robot and experiments. The dimension of the bike robot was designed as proportional to the real bicycle. Slalom motion and long distance motion were performed by steering control only.

Navigation in indoor environment by an autonomous unicycle robot with wide-type wheel

The objective of this research is to perform a long distance navigation in indoor environment, with a unicycle robot that has a wide-type wheel, and has a laser range finder installed on top of the robot. At present, there is no report for long distance navigation by unicycle robot in real indoor environment. We have developed a system that consists of two subsystems; “Balancing and Maneuvering System” for moving robot to desired direction while the posture of the robot is stabilized, and “Navigation System” for calculation of desired direction and recognition of intersections, using external sensor whose scan plain changes when robot steers. We have implemented the system to a single SH-4 CPU microcomputer, and performed a long distance navigation in actual indoor environment. The paper reports the unicycle robot and the system we have developed, and the experiment result of long distance navigation in indoor environment.

Path tracking of an unicycle robot with a wide-type wheel aimed for navigation

The purpose of this research is to realize a motion along a straight line by a unicycle robot. The robot consists of upper and lower bodies connected with a joint. Our final target of this research is to realize navigation in indoor environment with the robot. In this paper, we describe the driving control system, and show results of the motion desired.

An underactuated two-link-one-motor robot with dynamic mobility

We are interested in the dynamical mobility of a simple mechanism with two links and one-motor, which moves in one dimension. It can move with rotation of the lower link led by the swing of the upper link. We have developed a two-link-one-motor experimental robot, implemented a detailed simulation for this system which include backlash or shock in landing, and designed a non-linear feedback controller to realize one step stable motion of this mechanism.