Flexible two-wheeled self-balancing robot system and its motion control method

US8321053B2 · kind B2 · utility

Assignee

• BEIJING UNIVERSITY OF TECHNOLOGY · CN

Inventors

• Xiaogang Ruan · Beijing, CN
• Xinyuan Li · South Setauket, US
• Honggui Han · Beijing, CN
• Jianwei Zhao · Shanghai, CN
• Naigong Yu · Beijing, CN
• Hongge Ren · Fremont, US
• Jianxian Cai · Beijing, CN

Key dates

• Filing date: Apr 29, 2010
• Grant date: Nov 27, 2012
• Expiry date: Feb 26, 2031

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B25J5/007
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A flexible two-wheeled self-balancing robot system and its motion control method include a main controller 1, a motion controller 2, an assistant controller 3, two servo drivers 4, sensors, input/output devices, two DC motors 5 and a power supply system; a camera is installed on truck's top board 11, a tilt-meter and a gyro are installed both in truck 6 and chassis 8. Truck 6 and chassis 8 are connected with an elastic joint in which is installed a two-arm torsion spring and a cylindrical spring; the main controller 1 is connected to the motion controller 2, the assistant controller 3 and input/output devices. The user commands received by the main controller 1 are immediate commands or stored commands; through main controller 1 running the motion behavior decision algorithm, the motion controller 2 running the motion balancing control algorithm, and the servo drives 4 controlling the torques of the motors 5, locomotion on plane and remote control of the robot can be implemented.