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International Journal of Robotics and Automation Technology

Articles

Vol. 3 No. 1 (2016)

A Two-Wheeled Mobile Non-Inverted-Pendulum Robot

DOI
https://doi.org/10.15377/2409-9694.2016.03.01.1
Submitted
August 10, 2016
Published
10.08.2016

Abstract

The two-wheeled mobile non-inverted-pendulum (NIP) robot which is the topic of this paper is a new prototype of a two-wheeled mobile pendulum robot with two internal devices. The pendulum contains the control devices; it is not inverted and free to oscillate. The robot actuation mode is insured by the potential energy of the internal devices. It has two actuators and the free oscillation of the pendulum is mechanically controlled. The robot mechanical structure, the kinematics, the dynamics are given.

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