An autonomous self-rising pendulum

摘要

This contribution presents an intelligent machine, which can be mounted on the tip of a pendulum. The machine operates autonomously to raise the pendulum and performs robotic tasks. The pendulum environment and the machine's principle of operation based on gyration are described. Details of the mechatronic components are given. The overall control system is sketched and the sub-tasks for energy-based rising and stabilising are described in detail. Experimental results illustrate the performance of this principle and machine.