ABSTRACT This paper reports on a posture stability control method for an inverted pendulum robot using a control moment gyro (CMG) mounted on the top of the inverted pendulum. As an inverted pendulum dimension decreases, a time to fall over to an angle where an inverted pendulum cannot restore its posture becomes shorter; however, a small inverted pendulum robot cannot have a powerful computer because of space limitations. This means it requires a faster and smaller way to maintain its balance. Furthermore, inverted pendulum robots require movement space to gain a restoring force to keep their balance. We thus proposed an inverted pendulum robot using a CMG to obtain the necessary restoring force. The CMG’s effects decreased the robot’s falling over speed, meaning it can keep its balance without moving. We successfully demonstrated that an inverted pendulum robot with a CMG can separate posture stability control and trajectory tracking control. The validity of the inverted pendulum robot with a CMG was confirmed comparing the two experiments. In the first experiment, the CMG performed posture stabilization and the wheel performed trajectory tracking. In the second experiment, only the wheel performed posture stabilization and trajectory tracking. GRAPHICAL ABSTRACT

中文翻译：

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基于力矩陀螺的小型倒立摆机器人轨迹跟踪姿态稳定性控制

摘要 本文报道了一种使用安装在倒立摆顶部的控制力矩陀螺 (CMG) 的倒立摆机器人姿态稳定性控制方法。随着倒立摆尺寸的减小，倒立摆无法恢复到一定角度的时间变短；然而，由于空间限制，小型倒立摆机器人无法拥有强大的计算机。这意味着它需要一种更快、更小的方法来保持其平衡。此外，倒立摆机器人需要运动空间来获得恢复力以保持平衡。因此，我们提出了一种使用 CMG 的倒立摆机器人来获得必要的恢复力。CMG 的效果降低了机器人的坠落速度，这意味着它可以在不移动的情况下保持平衡。我们成功地证明了带有 CMG 的倒立摆机器人可以分离姿态稳定性控制和轨迹跟踪控制。比较两个实验证实了带有 CMG 的倒立摆机器人的有效性。在第一个实验中，CMG 执行姿势稳定，车轮执行轨迹跟踪。在第二个实验中，只有车轮进行了姿态稳定和轨迹跟踪。图形概要 只有车轮执行姿势稳定和轨迹跟踪。图形概要 只有车轮执行姿势稳定和轨迹跟踪。图形概要