Gang Wang, Seunghwan Choi, Jangmyung Lee
(Dept.of Electrical Engineering, Pusan University, Busan 609-735, Korea)
Abstract：Humanoid mobile manipulator which is based on two-wheel inverted pendulum robot has been studied. Balance control is a key problem for this kind of centroid-variable robot. Due to the principle of two wheel inverted pendulum, a timely angle compensation is necessary to make the system keep balance when the centroid changes. In this paper, a method based on coordinate transformation is introduced to get the compensatory angle and a 12-DOF mobile manipulator is also used to check the method. Simulation and experimental results show the effectiveness of the method.
Key words：angle compensation; inverted pendulum; variable centroid; humanoid
CLD number： TP241 Document code： A
Article ID： 1674-8042(2013)01-0052-06 doi： 10.3969/j.issn.1674-8042.2013.01.012
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