Development of an inverted two-wheeled luggage transport vehicle

摘要

In this research, we propose an inverted two-wheel vehicle as a load carrying robot. The two wheel vehicle has excellent features such as small size, high mobility and light weight. Conventionally, many inverted two-wheel beaks have been studied. However, there are few studies on vehicles specialized for load carrying. The inverted two wheels are statically unstable and always require the stabilization control of the pitch angle. Also, it is desirable that load transport is required to have robustness against load fluctuation. Therefore, robust operation is realized by using the optimum servo and the disturbance observer together. It is confirmed that operation is possible with 4kg and 12 kg of load. If this research is put into practical use it can be applied to automation of production process and so on.