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Warianty tytułu
Języki publikacji
Abstrakty
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.
Rocznik
Tom
Strony
341--351
Opis fizyczny
Bibliogr. 8 poz., rys., wykr.
Twórcy
autor
- Białystok Technical University, Faculty of Mechanical Engineering Department of Automatics and Robotics ul. Wiejska 45 C, 15-351 Białystok, Poland
Bibliografia
- Astrom K.J. and Murray R.M. (2008): Feedback Systems: An Introduction for Scientists and Engineers. - Princeton: University Press.
- Bryson A.E. and Ho Y.C. (1969): Applied Optimal Control. - Blaisdell, Waltham, MA.
- 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.
- Loram I.D., Kelly S.M. and Lakie M. (2001): Human balancing of an inverted pendulum: is sway size controlled byankle impedance? - Journal of Physiology, 532.3, pp.879-891.
- Meggiolaro M.A. (2009): RioBotz Combat Robot Tutorial. - CreateSpace.
- Reference 1, http://www.segway.com
- Weiss P.L. (1985): Position Dependence of Ankle Joint Dynamics. - McGill University.
- Winter D.A., Patla A.E., Prince F., Ishac M. and Gielo-Perczak K. (1998): Stiffness Control of Balance in QuietStanding. - Journal of Neurophysiology 80:1211-1221.
Typ dokumentu
Bibliografia
Identyfikator YADDA
bwmeta1.element.baztech-158b511c-e777-4230-8883-f45ba536a634