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Proceedings Paper

Design and implementation of self-balancing coaxial two wheel robot based on HSIC
Author(s): Tianlian Hu; Hua Zhang; Xin Dai; Xianfeng Xia; Ran Liu; Bo Qiu
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Paper Abstract

This thesis has studied the control problem concerning position and orientation control of self-balancing coaxial two wheel robot based on the human simulated intelligent control (HSIC) theory. Adopting Lagrange equation, the dynamic model of self-balancing coaxial two-wheel Robot is built up, and the Sensory-motor Intelligent Schemas (SMIS) of HSIC controller for the robot is designed by analyzing its movement and simulating the human controller. In robot's motion process, by perceiving position and orientation of the robot and using multi-mode control strategy based on characteristic identification, the HSIC controller enables the robot to control posture. Utilizing Matlab/Simulink, a simulation platform is established and a motion controller is designed and realized based on RT-Linux real-time operating system, employing high speed ARM9 processor S3C2440 as kernel of the motion controller. The effectiveness of the new design is testified by the experiment.

Paper Details

Date Published: 9 January 2008
PDF: 9 pages
Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 67945H (9 January 2008); doi: 10.1117/12.784207
Show Author Affiliations
Tianlian Hu, Southwest Univ. of Science and Technology (China)
Hua Zhang, Southwest Univ. of Science and Technology (China)
Xin Dai, Southwest Univ. of Science and Technology (China)
Xianfeng Xia, Southwest Univ. of Science and Technology (China)
Ran Liu, Southwest Univ. of Science and Technology (China)
Bo Qiu, Southwest Univ. of Science and Technology (China)


Published in SPIE Proceedings Vol. 6794:
ICMIT 2007: Mechatronics, MEMS, and Smart Materials

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