The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Nov. 27, 2012
Filed:
Apr. 29, 2010
Xiaogang Ruan, Beijing, CN;
Xinyuan LI, Beijing, CN;
Honggui Han, Beijing, CN;
Jianwei Zhao, Beijing, CN;
Naigong Yu, Beijing, CN;
Hongge Ren, Beijing, CN;
Jianxian Cai, Beijing, CN;
Xiaogang Ruan, Beijing, CN;
Xinyuan Li, Beijing, CN;
Honggui Han, Beijing, CN;
Jianwei Zhao, Beijing, CN;
Naigong Yu, Beijing, CN;
Hongge Ren, Beijing, CN;
Jianxian Cai, Beijing, CN;
Beijing University of Technology, Beijing, CN;
Abstract
A flexible two-wheeled self-balancing robot system and its motion control method include a main controller, a motion controller, an assistant controller, two servo drivers, sensors, input/output devices, two DC motorsand a power supply system; a camera is installed on truck's top board, a tilt-meter and a gyro are installed both in truckand chassis. Truckand chassisare connected with an elastic joint in which is installed a two-arm torsion spring and a cylindrical spring; the main controlleris connected to the motion controller, the assistant controllerand input/output devices. The user commands received by the main controllerare immediate commands or stored commands; through main controllerrunning the motion behavior decision algorithm, the motion controllerrunning the motion balancing control algorithm, and the servo drivescontrolling the torques of the motors, locomotion on plane and remote control of the robot can be implemented.