Universiti Teknologi Malaysia Institutional Repository

Development of a two-wheeled inverted pendulum mobile robot

Nawawi, Sophan Wahyudi and Ahmad, Mohamad Noh and Osman, Johari Halim Shah (2007) Development of a two-wheeled inverted pendulum mobile robot. In: Research and Development, 2007. SCOReD 2007. 5th Student Conference, 12-11 Dec 2007, Selangor, Malaysia.

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Official URL: http://dx.doi.org/10.1109/SCORED.2007.4451379


The research on two-wheeled inverted pendulum (T-WIP) mobile robots or commonly known as balancing robots have gained momentum over the last decade in a number of robotic laboratories around the world. This paper describes the hardware design of such a robot. The objective of the design is to develop a T-WIP mobile robot to be used as flexible platform comprises of embedded unstable linear plant intended for research and teaching purposes. Issues such as selection of actuators and sensors, signal processing units, modeling and control scheme was addressed and discussed. The system is then tested using a well-known pole-placement state feedback controller to verify its functionality.

Item Type:Conference or Workshop Item (Paper)
Uncontrolled Keywords:actuators, balancing robots, control scheme, hardware design, modeling scheme, pole-placement state feedback controller, research purposes, sensors, signal processing units, teaching purposes, two-wheeled inverted pendulum mobile robot
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Electrical Engineering
ID Code:7456
Deposited By: Norhafizah Hussin
Deposited On:06 Jan 2009 00:19
Last Modified:01 Jun 2010 15:52

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