Baggage transportation and navigation by a wheeled inverted pendulum mobile robot

Toshinobu Takei, Ryoko Imamura, Shin'ichi Yuta

Research output: Contribution to journalArticlepeer-review

109 Citations (Scopus)


Our goal is to configure an automatic baggage-transportation system by an inverted pendulum robot and realize a navigation function in a real environment. The system consists of two cooperative subsystems: a balancing-and-traveling control subsystem and a navigation subsystem. Position errors of the inverted pendulum robot are often caused by a drift error in the gyro sensor and a change in the center of gravity by a loaded baggage when applying the linear state feedback control method for balancing and traveling. We have reduced the position errors for navigation by resetting the balance position occasionally while traveling with simple methods without an external observer or alternative sensors. In this paper, we state the method and show the experimental results of navigation in a real environment by the implemented robot system.

Original languageEnglish
Pages (from-to)3985-3994
Number of pages10
JournalIEEE Transactions on Industrial Electronics
Issue number10
Publication statusPublished - 2009
Externally publishedYes


  • Baggage transportation
  • Compensation of posture errors
  • Navigation
  • Wheeled inverted pendulum mobile robot

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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