Dual-Mode Model Predictive Control of an Omnidirectional Wheeled Inverted Pendulum
- Submitting institution
-
The University of Sheffield
- Unit of assessment
- 11 - Computer Science and Informatics
- Output identifier
- 5232
- Type
- D - Journal article
- DOI
-
10.1109/tmech.2019.2943708
- Title of journal
- IEEE/ASME Transactions on Mechatronics
- Article number
- -
- First page
- 2964
- Volume
- 24
- Issue
- 6
- ISSN
- 1083-4435
- Open access status
- Compliant
- Month of publication
- September
- Year of publication
- 2019
- URL
-
-
- Supplementary information
-
-
- Request cross-referral to
- -
- Output has been delayed by COVID-19
- No
- COVID-19 affected output statement
- -
- Forensic science
- No
- Criminology
- No
- Interdisciplinary
- No
- Number of additional authors
-
3
- Research group(s)
-
B - Complex Systems Modelling
- Citation count
- 0
- Proposed double-weighted
- No
- Reserve for an output with double weighting
- No
- Additional information
- The paper presents a novel omnidirectional wheeled inverted pendulum robotic platform known as a Collinear Mecanum Drive (CMD). The platform balances in a similar manner to a typical two-wheeled inverted pendulum, whilst also being able to simultaneously travel directly along its balance axis. Rigorous derivation of the system dynamics model and controller are given, whereas human locomotion characteristics were demonstrated through a working prototype. The work led to the invention of the Holomonic Collinear Mecanum Drive (patent pending), which is being commercialised by the University of Sheffield and an industrial partner.
- Author contribution statement
- -
- Non-English
- No
- English abstract
- -