JP2012250569A5 - - Google Patents

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Publication number
JP2012250569A5
JP2012250569A5 JP2011122834A JP2011122834A JP2012250569A5 JP 2012250569 A5 JP2012250569 A5 JP 2012250569A5 JP 2011122834 A JP2011122834 A JP 2011122834A JP 2011122834 A JP2011122834 A JP 2011122834A JP 2012250569 A5 JP2012250569 A5 JP 2012250569A5
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Japan
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formula
design problem
gain
eigenvalues
equal
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JP2011122834A
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JP2012250569A (en
JP5560234B2 (en
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Publication of JP2012250569A5 publication Critical patent/JP2012250569A5/ja
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Figure 2012250569
Figure 2012250569

の固有値と同じであるので、式（２８）のオブザーバゲインの設計問題は、下式（２９）のフィードバックゲインの設計問題と等しい。 Are the same as the eigenvalues, observer bar gain design problem of the formula (28) is equal to the feedback gain of the design problem of the formula (29).

JP2011122834A 2011-05-31 2011-05-31 Center of gravity angle estimation method and inverted wheel type traveling body controlled by the method Expired - Fee Related JP5560234B2 (en)

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JP2011122834A JP5560234B2 (en) 2011-05-31 2011-05-31 Center of gravity angle estimation method and inverted wheel type traveling body controlled by the method

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Application Number Priority Date Filing Date Title
JP2011122834A JP5560234B2 (en) 2011-05-31 2011-05-31 Center of gravity angle estimation method and inverted wheel type traveling body controlled by the method

Publications (3)

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JP2012250569A JP2012250569A (en) 2012-12-20
JP2012250569A5 true JP2012250569A5 (en) 2013-10-10
JP5560234B2 JP5560234B2 (en) 2014-07-23

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JP2011122834A Expired - Fee Related JP5560234B2 (en) 2011-05-31 2011-05-31 Center of gravity angle estimation method and inverted wheel type traveling body controlled by the method

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Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6123906B2 (en) * 2013-10-10 2017-05-10 株式会社村田製作所 Wheelbarrow
WO2015053086A1 (en) 2013-10-11 2015-04-16 株式会社村田製作所 Pushcart
DE102017215399B4 (en) * 2017-09-04 2022-07-14 Ford Global Technologies, Llc Self balancing vehicle
CN114764241A (en) * 2021-01-14 2022-07-19 腾讯科技（深圳）有限公司 Motion state control method, device and equipment and readable storage medium

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3672426B2 (en) * 1996-12-19 2005-07-20 本田技研工業株式会社 Posture control device for legged mobile robot
JP4063560B2 (en) * 2002-03-18 2008-03-19 株式会社国際電気通信基礎技術研究所 Communication robot
JP4760162B2 (en) * 2005-06-29 2011-08-31 トヨタ自動車株式会社 Control method of mobile cart and mobile cart
CN100557539C (en) * 2005-07-26 2009-11-04 松下电器产业株式会社 Inverted two-wheel running type robot and control method thereof
JP4887865B2 (en) * 2005-12-14 2012-02-29 株式会社エクォス・リサーチ vehicle
JP2007237750A (en) * 2006-03-03 2007-09-20 Toyota Motor Corp Inverted pendulum type moving body
US20100017107A1 (en) * 2006-12-27 2010-01-21 Kabushikikaisha Equos Research Traveling vehicle
JP4947414B2 (en) * 2007-03-27 2012-06-06 株式会社エクォス・リサーチ vehicle
JP5024662B2 (en) * 2007-03-29 2012-09-12 株式会社エクォス・リサーチ vehicle
JP4418905B2 (en) * 2007-05-02 2010-02-24 株式会社国際電気通信基礎技術研究所 Communication robot
JP2009154256A (en) * 2007-12-27 2009-07-16 Yaskawa Electric Corp Transfer device comprising leg with wheel
JP4992754B2 (en) * 2008-02-25 2012-08-08 トヨタ自動車株式会社 Inverted wheeled mobile robot and its control method
JP5303413B2 (en) * 2009-09-24 2013-10-02 本田技研工業株式会社 Inverted pendulum type moving body control device

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