書誌事項
- タイトル別名
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- 2P1-F02 Developement of control method for getting on and off a human-riding wheeled inverted pendulum vehicle on slope
抄録
We are developing a human-riding wheeled inverted pendulum vehicle for everyday use. There are some slopes in ordinary environment and it is important to treat a problem on easy getting on and off the mobility on a slope. So we considered some necessary functions and developed control methods for the problem. We applied a state-feed back control with feed-forward torque which are calculated with estimated slope angle. The slope angle is estimated by disturbance observer which is robust to force added to the mobility in motion of getting on or off the mobility by a rider.
収録刊行物
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- ロボティクス・メカトロニクス講演会講演概要集
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ロボティクス・メカトロニクス講演会講演概要集 2009 (0), _2P1-F02_1-_2P1-F02_2, 2009
一般社団法人 日本機械学会
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キーワード
詳細情報 詳細情報について
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- CRID
- 1390282680911839616
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- NII論文ID
- 110008698509
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- ISSN
- 24243124
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可