{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,25]],"date-time":"2025-09-25T16:41:56Z","timestamp":1758818516871,"version":"3.41.2"},"reference-count":11,"publisher":"Emerald","issue":"1","license":[{"start":{"date-parts":[[2011,1,11]],"date-time":"2011-01-11T00:00:00Z","timestamp":1294704000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2011,1,11]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>The purpose of this paper is to present a two\u2010wheeled inverted pendulum with self\u2010tilt\u2010up motion ability. With this ability, the two\u2010wheeled inverted pendulum can erect without assistance, and then the vehicle can be autonomously deployed. The paper proposes an approach to achieve this self\u2010tilt\u2010up motion, which involves precessional motion.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>A flywheel is mounted inside the vehicle to perform high\u2010speed spinning. The flywheel and body of the vehicle are forced to move around a fixed point and precessional motion occurs. As a result of the precessional motion, a moment is synchronously generated to tilt the body up to the upright position. Since no external force is applied on this two\u2010wheeled inverted pendulum, it is called self\u2010tilt\u2010up motion. A 3D model and a prototype are built to validate this approach.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>The simulation and experimental results show that the self\u2010tilting\u2010up motion is successful.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Research limitations\/implications<\/jats:title><jats:p>This paper presents a self\u2010tilt\u2010up motion for a two\u2010wheeled inverted pendulum. With the analysis of the dynamics, simulation demonstrations and prototype development, the results show that the vehicle could perform self\u2010tilt\u2010up motion without any assistance. The principle of this self\u2010tilt\u2010up motion involves processional motion of rigid body. We also pointed out the factors that play important roles in influencing the performance of self\u2010tilt\u2010up motion and then define the switching time for the motion to switch to dynamic balance movement.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>Traditional multi\u2010wheel robots cannot work when they overturn. However, the two\u2010wheeled inverted pendulums with self\u2010tilt\u2010up ability do not have this shortcoming. They can stand up to keep working even if they fall down. A two\u2010wheeled inverted pendulum with self\u2010tilt\u2010up ability can be applied to many places. Equipped with solar battery, it can be used as an independent explorer. This type of vehicle can be deployed in swarms for planetary detection. For example, many small two\u2010wheeled inverted pendulums assist a lunar rover for exploration, samples gathering, etc.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439911111097878","type":"journal-article","created":{"date-parts":[[2010,12,25]],"date-time":"2010-12-25T07:10:13Z","timestamp":1293261013000},"page":"76-85","source":"Crossref","is-referenced-by-count":10,"title":["Modeling of self\u2010tilt\u2010up motion for a two\u2010wheeled inverted pendulum"],"prefix":"10.1108","volume":"38","author":[{"given":"Shouhong","family":"Miao","sequence":"first","affiliation":[]},{"given":"Qixin","family":"Cao","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2022021820192224000_b5","unstructured":"Baloh, M. and Parent, M. (2003), \u201cModeling and model verification of an intelligent self\u2010balancing two\u2010wheeled vehicle for an autonomous urban transportation system\u201d, in Michael, B. and Michael, P. (Eds), paper presented at the Conference on Computational Intelligence, Robotics, and Autonomous Systems, Singapore, December 15."},{"key":"key2022021820192224000_b2","doi-asserted-by":"crossref","unstructured":"Grasser, F., D'Arrigo, A., Colombi, S. and Rufer, A. (2002), \u201cJOE: a mobile, inverted pendulum\u201d, IEEE Transactions Industrial Electronics, Vol. 49 No. 1, p. 107.","DOI":"10.1109\/41.982254"},{"key":"key2022021820192224000_b1","doi-asserted-by":"crossref","unstructured":"Ha, Y.\u2010S. and Yuta, S. (1996), \u201cTrajectory tracking control for navigation of the inverse pendulum type self\u2010contained mobile robot\u201d, Robotics and Autonomous Systems, Vol. 17 Nos 1\u20102, pp. 65\u201080.","DOI":"10.1016\/0921-8890(95)00062-3"},{"key":"key2022021820192224000_b7","doi-asserted-by":"crossref","unstructured":"Jung, S. and Kim, S.S. (2008), \u201cControl experiment of a wheel\u2010driven mobile inverted pendulum using neural network\u201d, IEEE Transactions on Control Systems Technology, Vol. 16 No. 2, pp. 297\u2010303.","DOI":"10.1109\/TCST.2007.903396"},{"key":"key2022021820192224000_b3","doi-asserted-by":"crossref","unstructured":"Kim, Y., Kim, S.H. and Kwak, Y.K. (2005), \u201cDynamic analysis of a nonholonomic two\u2010wheeled inverter pendulum robot\u201d, Journal of Intelligent and Robotic Systems: Theory and Applications, Vol. 44 No. 1, pp. 25\u201046.","DOI":"10.1007\/s10846-005-9022-4"},{"key":"key2022021820192224000_b11","doi-asserted-by":"crossref","unstructured":"Nawawi, S.W., Ahmad, M.N. and Osman, J.H.S. (2007), \u201cDevelopment of a two\u2010wheeled inverted pendulum mobile robot: research and development, SCOReD 2007\u201d, 5th Student Conference on 12\u201011 December, pp. 1\u20105.","DOI":"10.1109\/SCORED.2007.4451379"},{"key":"key2022021820192224000_b6","doi-asserted-by":"crossref","unstructured":"Pathak, H., Jaume, F. and Sunil, K.A. (2005), \u201cVelocity and position control of a wheeled inverted pendulum by partial feedback linearization\u201d, IEEE Transaction on Robotics, Vol. 21 No. 3, pp. 505\u201013.","DOI":"10.1109\/TRO.2004.840905"},{"key":"key2022021820192224000_b8","doi-asserted-by":"crossref","unstructured":"Ren, T.\u2010J., Chen, T.\u2010C. and Chen, C.\u2010J. (2008), \u201cMotion control for a two\u2010wheeled vehicle using a self\u2010tuning PID controller\u201d, Control Engineering Practice, Vol. 16 No. 3, pp. 365\u201075.","DOI":"10.1016\/j.conengprac.2007.05.007"},{"key":"key2022021820192224000_b9","doi-asserted-by":"crossref","unstructured":"Samuel, K.W., Au, Y.X. and Wilson, W.K.Y. (2001), \u201cControl of tilt\u2010up motion of single wheel robot via model\u2010based and human\u2010based controllers\u201d, Mechatronics, Vol. 11 No. 4, pp. 451\u201073.","DOI":"10.1016\/S0957-4158(00)00028-3"},{"key":"key2022021820192224000_b4","unstructured":"Segway Human Transporter (2004), available at: www.segway.com."},{"key":"key2022021820192224000_b10","doi-asserted-by":"crossref","unstructured":"Seong, H.J. and Takahashi, T. (2007), \u201cWheeled inverted pendulum type assistant robot: inverted mobile, standing, and sitting motions\u201d, paper presented at IROS 2007: IEEE\/RSJ International Conference on Intelligent Robots and Systems, October 29\u2010November 2, San Diego, CA, USA, pp. 1932\u20107.","DOI":"10.1109\/IROS.2007.4398961"}],"container-title":["Industrial Robot: An International Journal"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/www.emeraldinsight.com\/doi\/full-xml\/10.1108\/01439911111097878","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/01439911111097878\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/01439911111097878\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T23:50:40Z","timestamp":1753401040000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/38\/1\/76-85\/186140"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2011,1,11]]},"references-count":11,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2011,1,11]]}},"alternative-id":["10.1108\/01439911111097878"],"URL":"https:\/\/doi.org\/10.1108\/01439911111097878","relation":{},"ISSN":["0143-991X"],"issn-type":[{"type":"print","value":"0143-991X"}],"subject":[],"published":{"date-parts":[[2011,1,11]]}}}