스스로 일어나는 세그웨이 형태의 밸런싱 로봇의 설계 및 제작

StuntBike is a robot that can stand up on its own using only the torque of the motor. Unlike previous works, StuntBike has the form of a tricycle with unstable characteristics on the pitch axis to achieve standing-up actions with a small torque. As a control scheme, we utilize a 3-stage cascade proportional-integralderivative (PID) controller which outperforms a conventional 1-stage PID controller in terms of control performance. Based on the proposed design, we demonstrated the feasibility of standing-up action and attitude control from the simulation. Next, we present the control result from experiments, which suggests that stand-up action and attitude control is possible. Furthermore, we discuss some factors that impact the performances of the system and an overview of supplementary work.