- 一般社団法人 日本機械学会
- ロボティクス・メカトロニクス講演会講演概要集 2017 (ISSN:24243124)
- pp.2A1-L10, 2017 (Released:2017-11-25)
This paper investigates motion characteristics of the wheeled inverted pendulum robot, which is a commercial product for tele-communication and has a built-in stabilizer. We are motivated to utilize this type of telepresence robot for scientific communication with children. For safe activities, accidents caused by the robot, for example, collisions and overturning, must be avoided. In this paper, we examine behaviors of the wheeled inverted pendulum under several conditions: changing floors, transmission speed for control, and frequency of input of remote control. In our experiments, we did not encounter overturning of the robot during the robot moved under these experimental conditions. Of course, the robot turns over when someone pushes or pulls the robot with excessive external forces that breaks the stability of the inverted pendulum.