Atitude Angle Control by using Air Cylinder system for Inverted Pendulum Type Mobile Robot with Self-Righting Mechanism

Abstract

Safety and reliability is important for the design of the service robot in the symbiosis space. This study addresses the two wheeled inverted pendulum type mobile robot with self-righting mechanism in order to adopt a mobile unit of a tour guide robot. The center of gravity movement mechanism using an air cylinder system was adopted in order to solve the safety problems in this paper. The experimental results indicated that the adjustment of the center of gravity position can be achieved adaptively for the attitude angle of the robot, and the effectiveness of the proposed mechanism for the attitude control of inverted pendulum type mobile robot with self-righting mechanism.