Abstract
The high-speed driving performance of the Segway has been improved in this study using a SEA (Series Elastic Actuator) with a novel control algorithm. The Segway is a balancing robot that has been widely used as a personal vehicle. For the safety of the rider, a Segway should not deviate from the target path while driving at a high speed. The Segway is a fundamentally unstable system with only two wheels to keep the balance of a rider adjusting forward and backward. A limited number of models are equipped with special safety devices. In addition, there is a high probability of accidents during high-speed driving of curved paths. To maintain balance, and the rider’s safety, while driving on a curved path, SEAs have been utilized for compensating the centrifugal force of the rider by changing the angle of the footplate to shift the center of mass of the rider. In addition, a friction model-based torque compensation algorithm has been proposed to keep the Segway on the desired path. The performance of the proposed system has been verified through experiments that show the effectiveness of SEAs for maintaining balance on curving motions at a high speed.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: Journal of Institute of Control, Robotics and Systems
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
