TY - GEN
T1 - Development of the two-wheeled inverted pendulum type mobile robot WV-2R for educational purposes
AU - Solis, Jorge
AU - Nakadate, Ryu
AU - Yoshimura, Yuki
AU - Hama, Yuichiro
AU - Takanishi, Atsuo
PY - 2009/12/11
Y1 - 2009/12/11
N2 - The rapidly increase of personal robotic platforms and their applications in Japan represents a great challenge for universities to introduce undergraduate students the basic knowledge required to develop intelligent automated mechanisms. For this purpose; in this paper, we are presenting our approach to introduce first year undergraduate students of the Department of Modern Mechanical Engineering the basics of robotics systems. In order to foster the creativity of undergraduate students of engineering fields, we focused in developing an education tool designed to introduce at different educational levels the principle of developing mechatronic systems. In particular, the development of an inverted pendulum mobile robot Waseda Wheeled Vehicle No. 2 (WV-2R) has been proposed. Different kinds of experiments were proposed to confirm the possibility of implementing controllers as well as changing physical properties of the system to observe differences on the response of the system. From the experimental results, we could confirm the effectiveness of the proposed systems to control the angle of pendulum respect to the body base as well as by changing the radius of the wheel.
AB - The rapidly increase of personal robotic platforms and their applications in Japan represents a great challenge for universities to introduce undergraduate students the basic knowledge required to develop intelligent automated mechanisms. For this purpose; in this paper, we are presenting our approach to introduce first year undergraduate students of the Department of Modern Mechanical Engineering the basics of robotics systems. In order to foster the creativity of undergraduate students of engineering fields, we focused in developing an education tool designed to introduce at different educational levels the principle of developing mechatronic systems. In particular, the development of an inverted pendulum mobile robot Waseda Wheeled Vehicle No. 2 (WV-2R) has been proposed. Different kinds of experiments were proposed to confirm the possibility of implementing controllers as well as changing physical properties of the system to observe differences on the response of the system. From the experimental results, we could confirm the effectiveness of the proposed systems to control the angle of pendulum respect to the body base as well as by changing the radius of the wheel.
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U2 - 10.1109/IROS.2009.5354088
DO - 10.1109/IROS.2009.5354088
M3 - Conference contribution
AN - SCOPUS:76249121666
SN - 9781424438044
T3 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
SP - 2347
EP - 2352
BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Y2 - 11 October 2009 through 15 October 2009
ER -