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Precise Curve Motion Control of a Segway by Compensating the Centrifugal Force with SEAs

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  • Control Theory and Applications
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Abstract

In this paper, the slope of the footplate is adjusted to compensate for the centrifugal force with a series elastic actuator (SEA) attached to the Segway’s body to improve the cornering characteristics during turning. To ensure Segway’s driving safety in the curvature motion, it is necessary to compensate for the centrifugal force by tilting the footplate to generate inward force by the reaction force from the footplate. When the footplate is tilted under the control of SEA, the vertical load on both wheels has been changed accordingly. The frictional force of the wheel has been changed by the change of the vertical force, which requires adjustment of driving torque to keep the curvature trajectory. That is, the driving torque has been controlled to keep the curvature trajectory considering the frictional force caused by the turning motion. Four SEAs are attached to the footplate to control the slope of the footplate and the real curvature motion has been demonstrated to verify the effects of SEAs in the high-speed curvature motion.

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Authors and Affiliations

  1. Department of Electronics Engineering, Pusan National University, 63-2 Jangjeon-dong, Geumjeong-gu, Busan, 46241, Korea

    Jin-Uk Bang, Ji-Hyeon Kim & Jangmyung Lee

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  1. Jin-Uk Bang
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  2. Ji-Hyeon Kim
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  3. Jangmyung Lee
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Correspondence to Jangmyung Lee.

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Publisher’s Note Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

This material is based upon work supported by the Ministry of Trade, Industry & Energy (MOTIE, Korea) under Industrial Technology Innovation Program No. 10062443, “40 km/h of balancing robot with active suspension.”

Jin-Uk Bang received his B.S. degree in electronics engineering from Silla University, Korea, in 2017 and an M.S. degree in electronics engineering from Pusan National University, Korea, in 2019. He is currently working on a Ph.D. at Pusan National University. His research interests include motor control, sensor control, and driving robot.

Ji-Hyeon Kim received her B.S. degree in electronics engineering from Gyeongnam National University of Science and Technology, Korea, in 2018. She is currently pursuing an M.S. degree at Pusan National University, Korea. Her research interests include motor control, microprocessor application, and circuit design.

Jangmyung Lee received his B.S. and M.S. degrees in electronics engineering from Seoul National University, Seoul, Korea, in 1980 and 1982, respectively, and a Ph.D. degree in computer engineering from the University of Southern California, Los Angeles, USA, in 1990. He has been a professor at the Intelligent Robot Laboratory, Pusan National University, Busan, Korea, since 1992. His current research interests include intelligent robotic systems, ubiquitous ports, and intelligent sensors. Prof. Lee is a past president of the Korean Robotics Society and a vice president of Institute of Control, Robotics, and Systems. In addition, he heads the National Robotics Research Center, SPENALO.

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Bang, JU., Kim, JH. & Lee, J. Precise Curve Motion Control of a Segway by Compensating the Centrifugal Force with SEAs. Int. J. Control Autom. Syst. 19, 2018–2025 (2021). https://doi.org/10.1007/s12555-019-1076-3

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  • DOI: https://doi.org/10.1007/s12555-019-1076-3

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