Current issue
Archive
About the Journal
Editorial Policies
For Authors
2/2013 vol. 18
Stats
Get citation
ORIGINAL PAPER
Modeling the Interaction Between two-Wheeled Self-Balancing Vehicle and its Rider
M. Ciężkowski 1
 
 
 
More details
Hide details
1
Białystok Technical University, Faculty of Mechanical Engineering Department of Automatics and Robotics ul. Wiejska 45 C, 15-351 Białystok, POLAND
 
 
Online publication date: 2013-06-08
 
 
Publication date: 2013-06-01
 
 
International Journal of Applied Mechanics and Engineering 2013;18(2):341-351
DOI: https://doi.org/10.2478/ijame-2013-0020
 
 
Article (PDF)
References (8)
 
KEYWORDS
human-machine interaction
system control
ankle joint model
LQR
inverted pendulum
 
ABSTRACT
The paper presents a modeling method and mathematical description of a two-wheeled self-balancing vehicle and its rider. A model of the rider that was used contains a model of the ankle joint, so we could determine the interaction between the rider and the vehicle. The paper presents results of computer simulations , which show the fundamental processes during riding, such as acceleration and braking.
 
REFERENCES (8)
1.
Astrom K.J. and Murray R.M. (2008): Feedback Systems: An Introduction for Scientists and Engineers. - Princeton: University Press.
Google Scholar
 
 
2.
Bryson A.E. and Ho Y.C. (1969): Applied Optimal Control. - Blaisdell, Waltham, MA.
Google Scholar
 
 
3.
Ciężkowski M. and Siemieniako F. (2012): Closed-loop position control of inverted pendulum. - Scientific and Didactic Equipment, Vol. XVII Nr 1/2012, pp.57-62.
Google Scholar
 
 
4.
Loram I.D., Kelly S.M. and Lakie M. (2001): Human balancing of an inverted pendulum: is sway size controlled by ankle impedance? - Journal of Physiology, 532.3, pp.879-891.
Google Scholar
 
 
5.
Meggiolaro M.A. (2009): RioBotz Combat Robot Tutorial. - CreateSpace.
Google Scholar
 
 
6.
Reference 1, http://www.segway.com.
Google Scholar
 
 
7.
Weiss P.L. (1985): Position Dependence of Ankle Joint Dynamics. - McGill University.
Google Scholar
 
 
8.
Winter D.A., Patla A.E., Prince F., Ishac M. and Gielo-Perczak K. (1998): Stiffness Control of Balance in Quiet Standing. - Journal of Neurophysiology 80:1211-1221.
Google Scholar
 
 
Share
Send by email
RELATED ARTICLE
Modeling of Two-Wheeled Self-Balancing Robot Driven by DC Gearmotors
Indexes
 
Keywords index
Topics index
Authors index
eISSN:2353-9003
ISSN:1734-4492
Journals System - logo
In the years 2019-2020, the International Journal of Applied Mechanics and Engineering is financed under contract no. 634/P-DUN/2019 by the Minister of Science and Higher Education from funds for science dissemination activities. The financing amounts to 83.500 PLN.
Task: edition of a scientific journal, its internationalization and ensuring open access to the journal via the Internet
© 2006-2024 Journal hosting platform by Bentus
Scroll to top