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- W2737050228 abstract "A wheeled inverted pendulum cannot balance without control, and it is important to save motion in a control range. In some situations, however, to avoid a collision, the maximum acceleration and deceleration must be applied. A motion-planning method for a wheeled inverted pendulum (“body” hereafter)-which uses full performance from all attitudes under hardware constraints-was developed. The developed method involves two steps. First, a linear combination of zeroth to fourth differentials of parameters based on the motion equation of a wheeled inverted pendulum is obtained. Second, the arbitrary attitude of the wheeled inverted pendulum and hardware constraints are expressed on a phase plane containing angular rate of body motion and an angular inclination of the body. By executing these two steps, a motion plan can be expressed on the phase plane. A simulation based on a model confirmed that the movement plan formulated by this technique can be followed with no error." @default.
- W2737050228 created "2017-07-31" @default.
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- W2737050228 date "2017-05-01" @default.
- W2737050228 modified "2023-10-12" @default.
- W2737050228 title "Perfect tracking control using a phase plane for a wheeled inverted pendulum under hardware constraints" @default.
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- W2737050228 doi "https://doi.org/10.1109/icra.2017.7989505" @default.
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