Abstract
A two-wheeled inverted pendulum (WIP) inclines to keep balance in acceleration and deceleration. The purpose of this study is to improve the inclination by a movable center of gravity system (MCGS) when a WIP changes in the opposite direction movement. First, we built models of the WIP with MCGS system and WIP without MCGS system. Next, we designed the integral-type optimal servo system. According to results of drive experiment, the inclination angle and inclination angular velocity of WIP with MCGS lower then ones of WIP without MCGS. In conclusion, the MCGS shows that it is effective in an improvement of the inclination of WIP.
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: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
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.
