SCIENCE CHINA Information Sciences, Volume 62 , Issue 5 : 050207(2019) https://doi.org/10.1007/s11432-018-9623-3

Trajectory planning-based control of underactuated wheeled inverted pendulum robots

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  • ReceivedJun 24, 2018
  • AcceptedSep 27, 2018
  • PublishedFeb 25, 2019


There is no abstract available for this article.


This work was supported by National Natural Science Foundation of China (Grant Nos. 61873134, 61503200), the Young Elite Scientists Sponsorship Program of Tianjin (Grant No. TJSQNTJ-2017-02), and the China Postdoctoral Science Foundation (Grant Nos. 2017T100153, 2016M600186).


Appendix A.


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  • Figure 1

    (Color online) (a) Googol technology Gbot2001 robot on a slope; (b) experimental results of Case 1 (red solid lines: experimental results; blue dashed lines: given constraints); (c) experimental results of Case 2 (red solid lines: experimental results; blue dashed lines: given constraints).