公开(公告)号：KR1020090095714A

公开(公告)日：2009-09-10

申请号：KR1020080020815

申请日：2008-03-06

Applicant: 충남대학교산학협력단

Inventor： 정슬 ,  노진석

IPC: G05D1/02

CPC classification number: G05D1/021 ,  A63F9/001 ,  B25J13/065 ,  G05D1/0011

Abstract: A mobile robot using an inverted pendulum system is provided to move naturally while being standing up by installing a linear control and a nonlinear control in the inverted pendulum system. In a mobile robot using an inverted pendulum system, a pair of wheels(32) is combined with the robot bodies(22, 24, 70) while being installed in lower part of the robot body. A pair of drive motors operates a pair of wheels respectively, and a balance sensor of a sensing controlling unit is mounted in the robot body and senses the balance of the robot body. A controller of the sensing controlling unit transmits an operation to the driving motor.

Abstract translation: 提供了一种使用倒立摆系统的移动式机器人，通过在倒立摆系统中安装线性控制和非线性控制来自动地移动。 在使用倒立摆系统的移动机器人中，一对轮（32）与机器人本体（22,24，70）组合，同时安装在机器人主体的下部。 一对驱动电动机分别操作一对车轮，并且感测控制单元的平衡传感器安装在机器人主体中并感测机器人主体的平衡。 感测控制单元的控制器将操作发送到驱动电动机。