Anti-slip Balancing Control of a Humanoid Wheeled Inverted Pendulum Robot
This research aims to develop systematic methodologies to perform sensor fusion, balancing control, and whole-body posture control on a humanoid wheel inverted pendulum (WIP) robots. For sensor fusion, a novel pitch angle estimator is proposed by merging the measurements for two IMU’s. Such an estimator is meant to eliminate the error caused by motion acceleration when estimating the pitch angle for feedback purposes. For the balancing control, a controller that provides robust stability to the variations of the CoM height is …
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