2P1-C11 Development of Inverted Pendulums that Move on Floor : Balancing Robot on a Ball and Hopping Robot using a Linear Motor

Abstract

This paper describes two types of inverted pendulums. One is that balances on a ball. It is equipped with three omnidirectional wheels with stepping motors that drive the ball, and with rate gyroscopes and accelerometer as attitude sensors. It could stand still, traverse on floor, and pivot. Inverted pendulum control was applied in two axes for attitude control. The mechanism, control scheme, and experiments of it are shown. Another robot was trial system of hopping robot. It employed three-phase linear induction motor in order to adapt for much higher hop. The concept and basic experiments using prototype elements including reaction-wheel type inverted pendulum are described.