1P1-O02 Analysis and compensation of disturbances for wheeled inverted pendulum assistant robot for load carrying and ramp climbing : Equilibrium point analysis in the presence of disturbances(Mobile Robot with Special Mechanism (1))

Abstract

In this paper the analysis of the disturbances that enter the system of a wheeled inverted pendulum type assistant robot is presented. Using null space techniques the equilibrium conditions under the presence of disturbances and the subsequent effects on the system is determined. A new controller based on the Extended State Observer is implemented to counteract these effects. Results of experiments comparing the new and previous control for both load carrying and ramp climbing are discussed and presented.