Control of a Mobile Pendulum System for a Boxing Robot Game

摘要

This paper presents control tasks of a mobile pendulum like boxing robot which has two arms and two wheels. The boxing robot has the similar structure of the mobile inverted pendulum system that has to balance the angle of the body with two wheels. Not only balancing the angle but also controlling the position of the mobile inverted pendulum system is required. For robust control behavior under disturbances such as hits, the neural network controller is used for the boxing robot system. For the boxing game application, the robot is controlled by a wireless communication module. Experimental results show successful control performances of regulating both the angle and the position of the boxing robot. The robot can even climb the inclined surface.