Design and development of an intelligent controller for a pole-balancing robot

Microprocessors and Microsystems

Volumn 26, Issue 9-10, 2002, Pages 433-448

  Er, Meng Joo ^a   Kee, Bak Heng ^a   Tan, Chee Chong ^a  

^a NANYANG TECHNOLOGICAL UNIVERSITY   (Singapore)

Author keywords

Fuzzy inference system; Micro controller; Pole balancing robot

Indexed keywords

EMBEDDED SYSTEMS; FUZZY CONTROL; INTELLIGENT CONTROL; ROBOTS;

POLE-BALANCING ROBOTS;

MICROCONTROLLERS;

EID: 0037147578     PISSN: 01419331     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0141-9331(02)00068-6     Document Type: Article

References (13)

1. B. Shannon. Personal Communication, 1985.
2. Hemami H., Weimer F.C. Further considerations of the inverted pendulum. Proceedings of Fourth Iranian Conference on Electrical Engineering, Pahlavi University, Shiraz, Iran. 1974;697-708.
3. Vukobratovic M., Sepaneko Y. On the stability of anthropomorphic systems. Mathematical Biosciences. 14:1972;1-38.
4. Vukobratovic M. Dynamics and control of anthropomorphic active mechanisms. Morecki A., Bianchi G., Kedzior K. First Symposium on Theory and Practice of Robots and Manipulator Systems. (1973);313-332 Elsevier, Amsterdam.
5. Hemami H., Golliday C.L. Jr. The inverted pendulum and biped stability. Mathematical Biosciences. 34:1977;95-110.
6. Kato T., Takanishi A., Jishokawa H., Kato K. The realization of the quasi-dynamic walking by the biped walking machine. Morecki A., Bianchi G., Kedzioir K. Fourth Symposium on Theory and Practice of Robots and Manipulators. (1983);341-351 Polish Scientific Publishers, Warsaw.
7. Miura H., Shimoyama I. Dynamic walk of a biped. International Journal of Robotics Research. 3:1984;60-74.
8. Manter J. Dynamics of quadruped walking. Journal of Experimental Biology. 15:1938;522-539.
9. McGhee R.B., Kuhner M.B. On the dynamic stability of legged locomotion systems. Gavrilovic M.M., Wilson A.B. Jr. Advances in External Control of Human Extremities. (1969);431-442 Jugoslav Committee for Electronics and Automation, Belgrade.
10. A.A. Frank, Automatic Control Systems for Legged Locomotion Machines, PhD Thesis, University of Southern California, Los Angeles, California, 1968.
11. Gubina F., Hemami H., McGhee R.B. On the dynamic stability of biped locomotion. IEEE Transactions on Biomedical Engineering. BME-21:1974;102-108.
12. Beletskii V.V. Biped locomotion dynamics I. Izvestiya AN SSSR Mekhanika Tverdogo Tela. 10:(3):1975;3-14.
13. Raibert M.H. Special Issue on legged systems. International Journal of Robotic Research. 3:1984;75-92.