Shusan Wang

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For Coaxial two-wheeled self-stabilizing robots, severe vibrations and fatal injury may occur when changing the center of gravity (CG) position, a feasible way for smoothly controlling the dynamic equilibrium in this condition is proposed in this paper; both the movement tendency and the height of system CG are concerned. A hybrid controller based on(More)
This paper addresses a Coaxial Couple Wheeled Robot platform with a dual-mode for practical applications both as a personal transporter and a robot patrolman. This CCWR has two modes: the patrol mode as CCWR-P and the transporter mode as CCWR-T. In order to achieve fast switching between the two modes, modular design approach is adopted, and mechanism as(More)
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