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Dissertations / Theses on the topic 'Two wheels robot'

Author: Grafiati
Published: 4 June 2025
Last updated: 1 August 2025

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1

Bageant, Maia R. (Maia Reynolds). "Balancing a two-wheeled Segway robot." Thesis, Massachusetts Institute of Technology, 2011. http://hdl.handle.net/1721.1/69500.

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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011.<br>Cataloged from PDF version of thesis.<br>Includes bibliographical references (p. 57).<br>In this thesis, I designed and constructed hardware for a two-wheeled balancing Segway robot. Because the robot could not be balanced based on a control system derived from the original analytical model, additional system dynamics in the form of frictional losses in the motors were incorporated. A SISO PID compensator and a SISO lead-lag compensator were designed to balance the robot based on the new model; both
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2

Eriksson, Jonas, Sven Lindqvist, Erik Lundquist, Michael Raun, Martin Skande, and Daniel Skarp. "The Balancing Robot Challenge – To Balance a Two-Wheeled Robot." Thesis, KTH, Maskinkonstruktion (Inst.), 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-102062.

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Denna rapport behandlar framtagningen av en autonom robot, som balanserandes på två hjul, dels skall kunna stå stilla och bevara sin position, samt även kunna förflytta sig en given sträcka, läsa av en mållinje, och därefter återigen fixera sin position. Med i rapporten finns även utförliga beskrivningar av, och beräkningar vid implementation av sensorer och dess filter, reglersystem, motordrivkretsar, samt konstruktionsanvisningar som är nödvändiga vid utformning av en funktionsduglig prototyp.<br>This paper describes the process of developing an autonomous robot, which balancing on two wheel
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3

Emond, Bryan R. "Optimal control of a two wheeled mobile robot." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 1994. http://handle.dtic.mil/100.2/ADA286130.

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Thesis (M.S. in Mechanical Engineering) Naval Postgraduate School, September 1994.<br>Thesis advisor(s): Ranjan Mukherjee. "September 1994." Includes bibliographical references. Also available online.
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Bosco, Bruno, André Ellnefjärd, Nordenmark Victor Ellqvist, Alexander Hemberg, Henrik Olsson, and Jonas Tegelberg. "Development of a self-balancing two wheeled robot." Thesis, KTH, Maskinkonstruktion (Inst.), 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-102054.

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Denna rapport beskriver och förklarar processen för att utforma och konstruera en parallell tvåhjulig robot, lik en Segway, med syfte att tävla mot andra liknande konstruktioner i en tävling. Roboten är konstruerad kring den inverterade pendelns princip och eftersom den är instabil har den aktivt balanserats. En accelerometer och ett gyro har tillsammans med ett Kalmanfiler använts för att bestämma robotens vinkel mot tyngdaccelerationen. När tyngdpunkten flyttas, ger det återkopplade systemet en rörelse i motsatt riktning för att säkerställa balansen. Små korrigeringar är alltid nödvändiga fö
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5

Vasu, Aishwarya. "MODEL-BASED CONTROL OF DIFFERENTIALLY DRIVEN TWO-WHEELED MOBILE ROBOT." OpenSIUC, 2010. https://opensiuc.lib.siu.edu/theses/360.

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The objective is to model a two wheeled nonholonomic mobile robot for the parking problem and stabilize it using piecewise continuous static feedback control. The nonholonomic robots cannot be stabilized using continuous static feedback controls. In this thesis, the kinematic model of the robot is transformed into a feasible coordinate system. A stabilizing kinematic controller is designed for the stabilization problem in the new coordinate system. The robot has two inputs, viz., v, linear velocity and ω, angular velocity. Two DC motors are used for the left and the right wheels to implement t
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6

Salerno, Alessio. "Design, dynamics and control of a fast two-wheeled quasiholonomic robot." Thesis, McGill University, 2006. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=102722.

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The control of wheeled mobile robots is particularly challenging because of the presence of nonholonomic constraints. Modern two-wheeled mobile robot control is further complicated by the presence of one unstable equilibrium point, which requires a continuous stabilization of the intermediate body by means of sensors. In order to simplify the control of these systems, Quasimoro, a novel two-wheeled mobile robot, is proposed. The control of Quasimoro is simplified by means of its mechanical design. The robot is designed for quasiholonomy, a property that simplifies the control of nonoholonomic
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7

Refvem, Charles T. "Design, Modeling and Control of a Two-wheel Balancing Robot Driven by BLDC Motors." DigitalCommons@CalPoly, 2019. https://digitalcommons.calpoly.edu/theses/2110.

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The focus of this document is on the design, modeling, and control of a self-balancing two wheel robot, hereafter referred to as the balance bot, driven by independent brushless DC (BLDC) motors. The balance bot frame is composed of stacked layers allowing a lightweight, modular, and rigid mechanical design. The robot is actuated by a pair of brushless DC motors equipped with Hall effect sensors and encoders allowing determination of the angle and angular velocity of each wheel. Absolute orientation measurement is accomplished using a full 9-axis IMU consisting of a 3-axis gyroscope, a 3-axis
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8

Sayidmarie, O. "Design and real-time control of a new structure two-wheeled robot." Thesis, University of Sheffield, 2016. http://etheses.whiterose.ac.uk/13238/.

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The work presented in this thesis deals with the design and real-time implementation of a control system for a new configuration of two-wheeled robot. In real life applications, two wheeled robots are considered to carry payloads of different sizes at different positions and different motion speeds along the vertical axis. Such parameters will have an impact on the robot stability and the control mechanism, hence their detailed study is essential for robust performance of the system. This work investigates the impact of the dynamic change of the payload position on the system damping character
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Nasrallah, Danielle Sami. "Contributions to the modelling and control of two-wheeled mobile robots." Thesis, McGill University, 2006. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=102818.

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Wheeled mobile robots moving on uneven terrain are attracting interest at an impressive pace. In the work reported here two distinct architectures of two-wheeled mobile robots are proposed.<br>The first architecture, corresponding to the case where the two wheels linked by a frame lie in a vertical plane, constitutes the material of our earlier research and is laid out in the appendix. The system being unilaterally constrained by the environment, slipping or losing contact with the ground can occasionally occur. Therefore, nine distinct topologies are identified and accounted for in the model
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Agouri, Saad Ahmed. "Modelling and control of a novel structure two-wheeled robot with an extendable intermediate body." Thesis, University of Sheffield, 2014. http://etheses.whiterose.ac.uk/6834/.

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11

Georgiou, Evangelos. "Self-localization and environment building methods for small non-holonomic manoeuvrable two-wheel mobile robots." Thesis, King's College London (University of London), 2015. http://kclpure.kcl.ac.uk/portal/en/theses/selflocalization-and-environment-building-methods-for-small-nonholonomic-manoeuvrable-twowheel-mobile-robots(c05f7696-d611-4d58-892e-8975084a06bc).html.

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The thesis presents a kinematic and dynamic model of the mobile robot platform derived by Lagrange D’Alembert methodologies and system control using a closed-loop PD controller. Innovative research in self-localization is presented in this thesis with the use of a double compass configuration that exploits a fusion of relative and absolute localization methods to achieve an analytical solution to position. In order to validate this novel double compass self-localization method, an optimized method was proposed in the form of an overhead computer system and a two-wheel manoeuvrable nonholonomic
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12

Hellman, Hanna, and Henrik Sunnerman. "Two-Wheeled Self-Balancing Robot : Design and control based on the concept of an inverted pendulum." Thesis, KTH, Maskinkonstruktion (Inst.), 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-184490.

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In the last decade, the open source community has expanded to make it possible for people to build complex products at home. [13] In this thesis a two-wheeled self-balancing robot has been designed. These types of robots can be based on the physical problem of an inverted pendulum [12]. The system in itself requires active control in order to be stable. Using open source microcontroller Arduino Uno and reliable angular and positional data the system can be made stable by implementing a controller. A modern and efficient controller is the LQR - Linear Quadratic Regulator [12]. Being a state spa
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13

Kimmel, Shawn Christopher. "Considerations for and Implementations of Deliberative and Reactive Motion Planning Strategies for the Novel Actuated Rimless Spoke Wheel Robot IMPASS for the Two-Dimensional Sagittal Plane." Thesis, Virginia Tech, 2008. http://hdl.handle.net/10919/32324.

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IMPASS is a novel spoke-wheel robot invented by researchers at the Robotics and Mechanisms Lab (RoMeLa) at Virginia Tech. The robot is driven by a rimless spoke wheel which can alter the length of any given spoke in the hub. This form of novel locomotion combines the efficiency of a wheeled robot and the mobility of a legged robot, arriving at a very practical mobility platform. A highly mobile robot such as IMPASS could prove very valuable in applications where the terrain is complex and dangerous, such as search and rescue, reconnaissance, or anti-terror response. A prototype has been constr
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14

Meisl, Milan. "Návrh a konstrukce dvoukolového mobilního robotu." Master's thesis, Vysoké učení technické v Brně. Fakulta informačních technologií, 2011. http://www.nusl.cz/ntk/nusl-237009.

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This diploma thesis deals with a design and construction of a two-wheeled mobile robot. In order to prepare a high-quality project, a testing carriage has been constructed serving as a basis of useful information for the final design and construction. Beside introduction and conclusion, the diploma thesis consists of four main parts. While the first part of the thesis briefly introduces the field of robotics, the theoretical part focuses both on particular components necessary for the robot's construction as well as the Segway vehicle which served as an inspiration for the robot's functionalit
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15

Allouche, Benyamine. "Modélisation et commande des robots : nouvelles approches basées sur les modèles Takagi-Sugeno." Thesis, Valenciennes, 2016. http://www.theses.fr/2016VALE0021/document.

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Chaque année, plus de 5 millions de personne à travers le monde deviennent hémiplégiques suite à un accident vasculaire cérébral. Ce soudain déficit neurologique conduit bien souvent à une perte partielle ou totale de la station debout et/ou à la perte de la capacité de déambulation. Dans l’optique de proposer de nouvelles solutions d’assistance situées entre le fauteuil roulant et le déambulateur, cette thèse s’inscrit dans le cadre du projet ANR TECSAN VHIPOD « véhicule individuel de transport en station debout auto-équilibrée pour personnes handicapées avec aide à la verticalisation ». Dans
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CHEN, SHIH-HSIEN, and 陳世賢. "Motion Control of Two Wheels Inverted Pendulum Robot in Different Enviroment." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/9rdj5c.

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碩士<br>國立臺灣科技大學<br>機械工程系<br>105<br>The goal of this thesis is to investigate the motion control performance of two-wheel inverted pendulum (TWIP) vehicle in different environment. The control kernel of this system is Arduino Nano 3.0. Accelerometer and gyroscope are used to measure the tilt angle and angular velocity of the inverted pendulum, respectively. Kalman filter is used to estimate the accurate tilt angle based on sensor fusion process. The brushless DC hub motor (BLDC) was chosen as the wheel driving power which is equipped with hall sensor for measuring the moving distance and speed o
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Wang, Yu-Cheng, and 王育晟. "Global Localization and Mapping of a Two-Armed Robot with Omnidirectional Mecanum Wheels." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/68517527131062162338.

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碩士<br>國立中興大學<br>電機工程學系所<br>100<br>This thesis presents techniques for global localization and mapping of a mobile anthropomorphous two-armed robot (ATAR) with the KINECT sensor and Mecanum four-wheeled omnidirectional base. An EKF-based global localization of the mobile ATAR is presented by using several artificial landmarks with given positions and four encoders mounted on four-wheeled omnidirectional base. An EKF-based approach using SURF is proposed for global localization and mapping of the mobile ATAR based on partially unknown natural landmarks. To conduct required experimentation, this
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Hong, Manh Ta, and 謝鴻邁. "Vertical two-wheeled Robot." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/30278420766421082705.

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碩士<br>明新科技大學<br>精密機電工程研究所<br>100<br>Vertical two-wheeled robot is a kind of balance robot based on the inverted pendulum. The kind of this robot has been developed in a lot of robotic laboratories. It’s unstable characteristics is a good example to verify the control theory for an engineer. To verify that the vertical two-wheeled robot can be balanced we can use a closed-loop controller method such as the proportional – integral – derivative method (PID) or the linear quadratic regulator (LQR), and pole placement. This Master thesis starts by presenting a background of a vertical two-wheeled r
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19

Tsai, Chiao-Lun, and 蔡僑倫. "DSP-based balance and two-wheel synchronous control for two-wheel robot." Thesis, 2004. http://ndltd.ncl.edu.tw/handle/25993947953563620441.

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碩士<br>國立中央大學<br>電機工程研究所<br>92<br>Two-wheel robot system is a self-balance two-wheel robot car, we can control it self-balance, going forward and backward, making a turn and fixed position. DSP F2812 is the control center of the two-wheel-robot system, which includes fuzzy control algorithm, motor servo control, A/D converter, analog filter, digital filter, and wireless transmission module etc. In the system, the sensors tilt and gyro are used to measure inclination angle and angle velocity of the robot. Analog low-pass filter and digital filter process the above two signals to be usable. We us
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Wang, Pei-Lin, and 王培霖. "DSP based motion control for two-wheel robot." Thesis, 2004. http://ndltd.ncl.edu.tw/handle/20796403789946308633.

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碩士<br>國立中央大學<br>電機工程研究所<br>92<br>Two-wheel robot system is a self-balance two-wheel robot car, we can control it self-balance, going forward and backward, making a turn and fixed position. DSP F2812 is the control center of the two-wheel-robot system, which includes fuzzy control algorithm, motor servo control, A/D converter, analog filter, digital filter, and wireless modem etc. In the system, the sensors tilt and gyro are used to measure inclination angle and angle velocity of the robot. Analog low-pass filter and digital filter process the above two signals to be usable. We use encoder to m
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Chen, Ming-Chang, and 陳銘昌. "A Design of Two-Wheel Balancing Matrix Robot." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/24264181783283174968.

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碩士<br>國立雲林科技大學<br>電子工程系<br>103<br>In this study, two two-wheel balancing robots are built. The first robot, based on a rigorous mathematical model from the literature, is built with LEGO Mindstorms EV3 and Matrix Robotics and their accessories. The software for driving the robot is written with LabView. EV3 reads data from the encoders of the EV3 motors and a gyro, computes the motor speeds and the tilting angle of the robot, adjusts these parameters with gains, and then uses a PID method to control the speed of the motors to achieve a balancing position for the robot. The second robot is buil
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CHIOU, JIUN-KAI, and 邱俊凱. "Two-wheeled Balancing Robot Implementation and Control." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/4vm327.

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碩士<br>國立臺灣科技大學<br>電機工程系<br>107<br>This study is mainly to build a two-wheeled balancing robot. The first task is to simulate the results of using two-wheeled robot mathematical model under PID control or Fuzzy control, then build to a real two-wheeled balancing robot. Two-wheeled balancing robot integrates Lithium polymer battery, converter, microcontroller unit, encoder, Inertial Measurement Unit (IMU), dc motor driver, DC geared motor, wireless module, etc. On the two-wheeled balancing robot platform, the tilt angle is obtained by reading the accelerometer and the gyroscope measurement and f
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WEN, CHI-YU, and 温啓佑. "The Obstacle Avoidance Application of Two-Wheel Balancing Robot." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/pvt9kx.

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碩士<br>國立高雄海洋科技大學<br>電訊工程研究所<br>106<br>This thesis proposes is to design a two-wheeled balancing robot control system, the system has ultrasonic obstacle avoidance function.User can issue commands and receive robot data through Bluetooth. Base on LOGO Mindstorms EV3, combine with EV3 gyro sensor, EV3 motors, ultrasonic sensor to establish the two-wheeled balancing robot. Used leJOS to write program such as balance, communication, control and avoidance. The system use a PID method to control the motors to achieve a balancing robot. After robot is well balanced, user may control robot moving usin
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Chiang, Tong-Ying, and 江東穎. "Design and implementation of two-wheeled intelligent robot." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/11015848081218155551.

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碩士<br>中國文化大學<br>數位機電科技研究所<br>98<br>This thesis is divided into two parts, the first part includes the derivations of control equations. In the control scheme, the fuzzy inference is designated as a main controller and the neural network is designated as auxiliary part. The neural uncertainty observer is added to fuzzy balance controllers. It is utilized to observe the external load disturbance, nonlinear friction and unstructured uncertainties, etc.. According to the observed result the control difficulty of balancing controller can be reduced. To verify the effectiveness of the proposed contr
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Liao, Yu-Ching, and 廖育靖. "CompactRIO Based Balancing Control for Two-Wheeled Robot." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/74551976620426978711.

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碩士<br>淡江大學<br>電機工程學系碩士在職專班<br>98<br>In the thesis, the graphical programming language LabVIEW and the embedded system platform CompactRIO are used to design a two-wheeled self-balancing robot. CompactRIO is an embedded integrated controller including real-time processor, reconfigurable FPGA-based chip, I/O of analog and digital. The signals of two sensors are used to be inputs of CompactRIO. One is an one-axle gyro and the one is a three-axle accelerometer. They are used to measure the tilt angle and angular velocity of the two-wheeled robot. The Kalman filter is used to improve the measuremen
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Lan, Shih-min, and 藍士閔. "Musical Notation Recognition System for Two-Wheeled Robot." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/54729351297367741062.

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碩士<br>國立臺灣科技大學<br>資訊工程系<br>97<br>For improvement of technique, the develop of robot become humanity and diversification. We create a musical notation recognition system by combining several techniques of image process. When robot reading the musical notation, the robot can sing the contents of musical notation in short time. In several recognition systems, the recognition result of musical notation has serious effect for skewing and warping. Our proposed recognition system would resolve this problem.
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Huang, Hsiang-Ting, and 黃湘婷. "Self-Balance Control of a Two-Wheeled Robot." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/68528360329514907654.

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碩士<br>國立中正大學<br>光機電整合工程研究所<br>101<br>This thesis proposes a Takagi-Sugeno (T-S) fuzzy control and a polynomial fuzzy control to achieve the self-balance control of a two-wheeled robot. In the polynomial fuzzy model, the state can exist in the matrix, whereas the T-S fuzzy model can only support the constant in the state matrix. Thus, the polynomial fuzzy system has a greater control gain range than the T-S fuzzy system does. This means that the polynomial fuzzy system has a greater chance of finding the optimal control gain. The polynomial fuzzy system is therefore not only capable of addressi
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Hsiao, En-Che, and 蕭恩哲. "Visual Odometry Based Two-Wheeled Mobile Robot Control." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/49106325364708170804.

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碩士<br>淡江大學<br>機械與機電工程學系碩士班<br>101<br>In this paper, a visual odometry is developed on the two-wheeled mobile robot. First, the binocular stereo camera is regarded as the sensor for the visual odometry to capture images in unknown environment. Then the landmarks of interest in images are detected by speeded-up robust features (SURF) algorithm. The location of the landmark in Cartesian coordinate can be derived from stereo geometry. The position of the camera can be determined by perspective-3-point (P3P) method and random sample consensus (RANSAC) algorithm. Therefore, the visual odometry is ac
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Padhan, Manas Kumar. "Fabrication, Balancing and Analysis of Two Wheeled Robot." Thesis, 2015. http://ethesis.nitrkl.ac.in/7701/1/2015_Fabrication_Padhan.pdf.

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Two wheeled self balancing robot is based on the concept of inverted pendulum, which center of mass is above the pivot point. Generally the pendulum is an unstable system on its horizontal plane and must be balanced to remain upright. This can be achieved by applying require amount of torque to the pivot point. Similarly here in two wheeled balancing robot being unstable will deflect from its vertical position and try to fall down. The angle of tilt is calculated by IMU sensor and sends to the microcontroller, which further gives a command to the motor through the motor controller to move in t
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Chen, Jun-Rong, and 陳家榮. "Improvement in DSP based motion control for two-wheel robot." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/36353594356002409648.

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碩士<br>國立中央大學<br>電機工程研究所<br>93<br>We develop and control a two-wheel robot which the core DSP F2812 integrates a lot of parts including motor servo control, external circuit signals, wireless transmission module, analog filter, digital filter, and fuzzy control algorithm. The dynamic sensors tilt and gyro are used to control the balance of the robot and the sensor digital compass is used to correct the directional error of the body and then getting the position and velocity by the feedback of the encoder. Through the integration of the information, we implement the designed fuzzy controllers to
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Cheng, Chun-Yuan, and 鄭鈞元. "Balance control of two-wheel robot with self-balanced ability." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/22383957579445990988.

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碩士<br>國立中央大學<br>電機工程研究所<br>91<br>The paper controls a two-wheel robot with self-balanced ability. It is divided into two parts --- the body and two wheels. We keep the balance of robot body using the computer and FPGA. We use the gyro to measure the angle and angular velocity of body and two encoders to measure velocity and position of two wheels, respectively. Fuzzy controller is used to control the robot for moving forward and backward in this paper. The two-wheel robot with self-balanced ability is finished by two students. Two theses are proposed as follows : (A)The robot balance con
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Kao, Wei-Fu, and 高瑋甫. "Two-wheeled Mobile Manipulator Robot Design and Its Applications." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/03244408433951956907.

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碩士<br>淡江大學<br>電機工程學系碩士班<br>104<br>The subject of the thesis is to present the new designing for a two-wheeled mobile robot with two arms and a vision system. The robot can balance by itself with only two wheels, and the location and direction of robot can be manipulated by moving the two wheels. To validate the effectiveness of the two-wheeled mobile robot, two different scenarios are applied in the test. In the first scenario, we use a color sensor to trace a black line, and design a fuzzy steering controller to complete the tracing mission. In the second scenario, a network camera is install
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Miao, Shi-Heng, and 苗士恒. "Design and Implementation of Self-Balancing Two-Wheeled Robot." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/62803468035114328063.

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碩士<br>淡江大學<br>電機工程學系碩士班<br>98<br>In this thesis, a two-input-one-output fuzzy controller is design and implemented based on the SOPC (System on a Programmable Chip) technique to let the implemented two-wheeled robot can balance by itself and let the robot reinstate the balancing state quickly when some output perturbation is produced. The chassis of robot has two wheels which are controlled by two DC motors and the control board of robot is a Nios II development board which processes all the signal and motor control. In the signal process, an one-axle gyro and a three-axle accelerometer are us
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Chang, Yu-Yang, and 張宇揚. "Development of a two-wheeled self-balancing jumping robot." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/v6muzb.

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碩士<br>國立臺灣大學<br>機械工程學研究所<br>105<br>This thesis presents the development and characterization of a two-wheeled self-balancing jumping robot, which features advantages such as small footprint and zero turning radius. The two-wheeled self-balancing robot, which is integrated with a jumping mechanism, is capable of leaping over obstacles and exhibits excellent maneuverability. The proposed robot consists of two mechanical structures: the jumping mechanism and the balancing-translation system. The jumping mechanism mainly consists of a cylindrical cam, a spring, and a latch. As a DC motor drives th
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bai, yi-min, and 白翼銘. "The improvement in DSP based motion control for two-wheel robot." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/09762411282327027380.

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碩士<br>國立中央大學<br>電機工程研究所<br>93<br>The goal in this thesis is to design and control a self-balance two-wheel robot, DSP F2812 is the control center of the two-wheel-robot system, which includes fuzzy control algorithm, motor servo control, A/D converter, analog filter, digital filter, and wireless modem etc. In control, the sensors tilt and gyro are used to measure inclination angle and angle velocity of the robot and the compass is used to know direction .Finally, We use encoder to measure velocity and angle velocity of the motors of robot. Then the robot’s motions self-balance, going forward a
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ZHU, YI-CHENG, and 朱翊呈. "Speed-Feedback Control and Ultrasonic-Signal Enhancement for Two-Wheel Robot." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/yvafcs.

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碩士<br>國立暨南國際大學<br>電機工程學系<br>106<br>In the era of Industry 4.0, the robot plays an indispensable role between intelligent factories and Internet of Things. E.g., mobile robot, intelligent robot, cleaning robot, etc. The research topic of the thesis is one of the above mobile robot. In the market products, sweeping robots often lack speed control for DC motors. The thesis proposed a method of quantifying the encoder signal to the rotational speed. The goal is to achieve the speed-feedback control on two-wheel robot. Speed-feedback control allows the different DC motors to output the same speed i
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Wang, Chih-Yu, and 汪志宇. "Fuzzy Control for Two-Wheeled Mobile Robots." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/79101259893587959369.

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碩士<br>國立臺灣師範大學<br>應用電子科技學系<br>100<br>This thesis is to research and produce a two-wheeled mobile robot. There are two parts of the robot, two left, right, each equipped with a DC motor to drive the car of two mobile robot. The architecture for the control is composed of single chip 82g516 for the core controller, optical coupler TLP250, H-bridge motor driver circuit, three-axis accelerometer (to measure the angle on the analog signal) and the motor encoder pulse signal for the sensing circuit. This thesis contains the simulation and experiment. Contains the simulation aspects: fuzzy control
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Cai, Er-Jie, and 蔡爾傑. "Control and Drive Design for a Two-wheeled Mobile Robot." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/96224003979866241249.

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碩士<br>淡江大學<br>機械與機電工程學系碩士班<br>93<br>This research develops the robot system of two wheel drive. In the dynamic control of the robot, it will derive the wheel structure of the robot of kinetics constraint, and utilize Lagrange form to derive the dynamic equation in order to get nonholonomic dynamic equation of two-wheel robot. Following by using the coordinate changing to process state feedback control of dynamic equation. In the respect of realization, it includes the mechanism of the robot, image capture and processing, wireless communication, motion control etc. The designed robot of this re
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Liou, Kang-Hao, and 劉康晧. "Control Design of Two-Wheeled Robot Based on Reinforcement Learning." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/9278f2.

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碩士<br>國立雲林科技大學<br>資訊工程系<br>105<br>In this paper, Reinforcement Learning (RL) is used to design the balance and self-control system with self-learning ability to verify the feasibility of RL technology in this field, so as to apply to the future intelligent robot control self-learning design. We have assembled a two-wheeled robot and transmitted control instructions to robot According to the control instructions, the robot can walk in a straight line and turn. So the robots need to have control and self-balancing mechanism in order to complete the task. The system is divided into three parts:
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Chen, Ying-Jie, and 陳英傑. "Mechanism Design and Balanced Control of the Two-Wheeled Robot." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/41632206937832129448.

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碩士<br>國立臺灣科技大學<br>自動化及控制研究所<br>96<br>The purpose of this thesis is to design and control a two-wheel robot with self-balanced function. The personal computer is the control center of the entire system, and use DAQ cards to retrieve the signal of sensors and encoders. For achieve two-wheel balanced function, we used fuzzy control algorithm to program the controlled codes. About the processes of control, the encoders is used to measure the angle and angular velocity of two wheels; the gyroscopei is used to measure the angular velocity of the robot; the inclined angle is got from integrating the
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Ling-GangHong and 洪聆剛. "Balance Control of a Two-Wheeled Inverted Pendulum Mobile Robot." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/40502860313533532202.

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碩士<br>國立成功大學<br>工程科學系碩博士班<br>98<br>The two-wheeled inverted pendulum mobile robot is a special type of wheeled robots. It has advantage of good mobility and small size because it has only two motors placed on both side. In this study, the dynamic model of the two-wheeled inverted pendulum robot is derived. In controll design, the LQR control law is used in the balance control of this system. In order to obtain an optimal estimation of the tilt angle, the complementary filter is used for data fusion with the angular measurements obtained from a rate gyroscope sensor and an accelerometer. The im
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LI, Bo-Wai, and 李柏緯. "The Implement of Motion Control of Two-Wheeled Entertainment Robot." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/18812354700377280612.

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碩士<br>義守大學<br>資訊工程學系<br>102<br>This research is trying to build a control system of a Two-Wheeled Entertainment Robot, two-wheeled robot is an inverted pendulum system which has multi-variables with non-linear characteristics in control. Because the robot may be applied on different working environments, the design of this system should be flexible in motion and simple in structure. The core of control system of Two-Wheeled Entertainment Robot is implemented on Altera’s FPGA. The robot can stably be balanced upright, walking and turning around by user’s instruction. The research uses many se
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Chen, Wei-Yu, and 陳威宇. "The Design and Implementation of a Two-Wheel Robot on SoPC Architectures." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/21895221236209648377.

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碩士<br>清雲科技大學<br>電子工程研究所<br>93<br>This paper describes the design and implementation of a two-wheel robot control system. The main purpose of this system is to develop a self-dynamic balancing and motion control strategy based on an SoPC (System on-a-programmable-chip) hardware architecture. In order to imitate the ability of human behaviors, which including tracing, recognizing, and grabbing objects, the development of machine vision recognition is also introduced in this system. The SoPC controller which is the main processor of the whole system provides sophisticated platform for arithmetic
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Ju, Shiang-Yun, and 朱祥雲. "Intelligent Motion Control of a Self–Balancing Two-Wheeled Mobile Robot." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/06593456317232688977.

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碩士<br>國立中興大學<br>電機工程學系所<br>98<br>This thesis presents techniques for intelligent motion control of a two-wheeled self-balancing mobile robot. Based on the dynamic mathematical modeling with exact parameters, two backstepping sliding-mode controllers are designed to achieve desired speed tracking and yaw rate control, in order to accomplish out trajectory tracking and stabilization. In the presence of mass and parameter variations, two intelligent motion controllers using fuzzy basis function networks (FBFN) are proposed to achieve trajectory tracking and stabilization. Simulations and experime
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Tsai, Yun-Hao, and 蔡雲皓. "A Two-Wheeled Inverted Pendulum Mobile Robot with Image Motion Control." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/97077918600681237694.

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碩士<br>國立彰化師範大學<br>電機工程學系<br>101<br>A two-wheeled inverted pendulum mobile robot (IPMR) has more flexible motions, but it is a very unstable system. Its motion control is an important study issue for robotics. This thesis used the linear quadratic regulator (LQR) method to design a controller for a two-wheeled IPMR. The tilt angle sensor outputs have drift and noise problems that will affect the motion stability of a two-wheeled IPMR. In order to overcome these problems, a proportion Kalman filter algorithm is adopted. The proposed controller is combined with a vision ser
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Li, Tzu-Wei, and 李子瑋. "Balancing a Two-Wheeled Autonomous Robot Systems by Particle Swarm Optimization." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/96461477254350818308.

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碩士<br>義守大學<br>電子工程學系碩士班<br>98<br>In recent years, to the model based fuzzy control gradually to receive plants regards. However, in model rules fuzzy control, we should obtain the Takagi-Sugeno (T-S) of the system before control design. For simple systems, we could derive T-S model from basic theorem. But, for complex systems we should use the input and output data form the system to construct the non-linear systems identification in order to build the T-S model. Since a two-wheeled autonomous robot is unstable, we can not get adequate input and output data form the system for identification.
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Wang, Jen-Shiang, and 王禎祥. "Forward and backward movement control of two-wheel robot with self-balanced ability." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/58514296597838038460.

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碩士<br>國立中央大學<br>電機工程研究所<br>91<br>The paper controls a two-wheel robot with self-balanced ability. It is divided into two parts --- the body and two wheels. We keep the balance of robot body using the computer and FPGA. We use the gyro to measure the angle and angular velocity of body and two encoders to measure velocity and position of two wheels, respectively. Fuzzy controller is used to control the robot for moving forward and backward in this paper. The two-wheel robot with self-balanced ability is finished by two students. Two theses are proposed as follows : (A)The robot balance con
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Xie, Yu-Lin, and 謝育霖. "Nonlinear Adaptive Robust Control for A 3-D Autonomous Two-Wheel Robot Vehicle." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/48563641901330372586.

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碩士<br>國立屏東科技大學<br>車輛工程系所<br>103<br>The main purpose of this research is using the adaptive robust control to autonomous system, quickly achieve balancing and positioning then no longer shaking. In this research, using a second-order dynamic model to represent the dynamic response of the entire group of autonomous models. When the adaptive robust controller design is accomplish, use the above derived the dynamic model to verify the feasibility of the controller. The results show that the designed controller can successfully control the body level angle and the moving displacement and steering a
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Wen, Yan-Hou, and 溫彥侯. "Design and Implementation of Controller for Two-Wheeled Robots." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/95633343197912355871.

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碩士<br>國立臺灣師範大學<br>應用電子科技學系<br>101<br>This thesis is to study the balance of two-wheeled robots by LQR (Linear Quadratic Regulator) control, PID (Proportional Integral Derivative) control and sliding mode control. A two-wheeled robot needs extra control mechanism to reach the balance because the system itself is unstable. This study implements the related control circuit to a real two-wheeled robot. By realizing the LQR control, PID control and sliding mode control into a microcontroller, the two-wheeled robot can still keep the balance even when the external interference is added. At first, by
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Lee, Kwarn-Hun, and 李劻翰. "Image Processing and Fuzzy PID Control Method Applied in Two-Wheel Robot Intercepting Mission." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/84216588873228913701.

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碩士<br>國立成功大學<br>航空太空工程學系碩博士班<br>96<br>The objective of this research is to design and build a two-wheel robot vehicle controlled via video, which can recognize the moving target on horizontal surface with particular color, and intercept it automatically. Monitoring computer and robot vehicle are the two major parts of the system. The former is implemented with image processor and controller, which receive target image and generates control commands in real time. The latter, which consists of wireless command receiver, digital to analog signals converter, DC motors, CCD camera, and wireless
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