Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 서태원 | - |
dc.date.accessioned | 2022-11-28T05:44:02Z | - |
dc.date.available | 2022-11-28T05:44:02Z | - |
dc.date.issued | 2022-04 | - |
dc.identifier.citation | IEEE Robotics and Automation Letters, v. 7, NO. 2, Page. 921-927 | en_US |
dc.identifier.issn | 2377-3766 | en_US |
dc.identifier.uri | https://ieeexplore.ieee.org/document/9483673 | en_US |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/177685 | - |
dc.description.abstract | This paper presents the dynamic modeling and analysis of an inverted pendulum robot with an adaptable overcoming wheel. Stairways are inevitable in environments where humans and robots operate and interact. The conventional wheel cannot overcome an obstacle that is higher than the radius of the wheel of the inverted pendulum robot. This paper presents a solution for a problematic situation in which a balancing robot climbs steps with a pair of transformable wheels. Dynamic modeling of the varying radius of the wheel was performed using the Lagrangian approach, and a simple gain controller was selected. Simulations were carried out using MATLAB and Simulink to confirm the dynamic model. In future work, the wheel should be tested on a robot model. | - |
dc.description.sponsorship | Basic Science Research Program through the National Research Foundation of Korea [NRF-2019R1A2C1008163] | - |
dc.language | en | en_US |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | en_US |
dc.subject | Balancing control | - |
dc.subject | Climbing stairsteps | - |
dc.subject | Kinematics | - |
dc.subject | Mobile robots | - |
dc.subject | Robots | - |
dc.subject | Shape | - |
dc.subject | Stairs | - |
dc.subject | Transformable wheel | - |
dc.subject | Vehicle dynamics | - |
dc.subject | Wheels | - |
dc.title | 2-Dimensional Dynamic analysis of an inverted pendulum robot with transformable wheels for overcoming steps | en_US |
dc.type | Article | en_US |
dc.relation.no | 2 | - |
dc.relation.volume | 7 | - |
dc.identifier.doi | 10.1109/LRA.2021.3096509 | en_US |
dc.relation.page | 921-927 | - |
dc.relation.journal | IEEE Robotics and Automation Letters | - |
dc.contributor.googleauthor | Kim, SangGyun | - |
dc.contributor.googleauthor | Ryu, Sijun | - |
dc.contributor.googleauthor | Won, Jeeho | - |
dc.contributor.googleauthor | Kim, Hwa Soo | - |
dc.contributor.googleauthor | Seo, TaeWon | - |
dc.sector.campus | S | - |
dc.sector.daehak | 공과대학 | - |
dc.sector.department | 기계공학부 | - |
dc.identifier.pid | taewonseo | - |
dc.identifier.orcid | https://orcid.org/0000-0001-9447-7675 | - |
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