Research On Transportation Skating Robot Controlled By Human Posture

With rapid growth of economics and population,urban traffic congestion,traffic safety and environmental pollution problems have become increasingly serious in our country.Mobility scooter,as an environmentally friendly means of transport,gradually walked into the lives of most people and also become a research hotspot in recent years.In this thesis,a more feasible and user-friendly mobility scooter system is developed for the existing problems such as the safety and stability of the existing roller skating device,the control theory is blurred and the human-computer interaction is not enough.According to the principle of self-balancing theory,we attempt to apply the inverted pendulum theory to the modeling of human and non-self-balancing robot.By acquiring information about human posture through a set of onboard sensors,we can design a controller,which aims to fix the position of ZMP,to respond human motion intension while keeping the system stable.Through simulation in Matlab and three basic experiments,the validity of stabling the system by the controller we select is verified.In this thesis,the roller skating robot has made some achievements in the hardware design,user posture recognition,non-self-balancing scooter's precise control and stability analysis of manned robot,and it has made promotion to the realization of popularity in the city.