Application of mobile inverted pendulum systems to Boxingbots for a boxing game

摘要

This article presents the application of mobile inverted pendulum systems to design Boxingbots for robot boxing games. Intelligent control algorithms are applied to the Boxingbot whose structure is the mobile inverted pendulum robot with arms. The Boxingbot has the combined structure of a mobile robot and an inverted pendulum system. The reference compensation technique scheme is used for not only balancing the pendulum but also tracking the movement by compensating for uncertainties. Two Boxingbots are designed and controlled remotely through wireless communication. Real boxing games between Boxingbots are demonstrated to show the feasibility of boxing games. Experimental studies confirm the possibility of performing boxing games by the Boxingbots.