This paper introduces a method of design and implementation of a two-wheeled inverted pendulum (TWIP) robot with friction compensation. Friction in the drive mechanism is a critical factor of robot self-balancing and affects its performance. The friction parameters are identified based on the dynamic model of the drive mechanism. The dynamics of the whole robot system are obtained by the Lagran...

Article history: Received 28 September 2016 Received in revised form 4 November 2016 Accepted 7 November 2016 Available online 13 November 2016 This project presents an application of a robust controller based on the "QParameterization" theory to control the motion of the common and well known problem in control engineering the " Two-Wheeled Inverted Pendulum" (TWIP). This controller is applied...

Recent Bauschinger-type tests conducted on a twinning-induced plasticity (TWIP) steel highlights the important contribution of internal stresses to work hardening [1]. Along this line we present Bauschinger experiments in a Fe-22Mn wt.%-0.6C wt.% TWIP steel. The mechanical behaviour upon load reversal shows transient and permanent softening effects. Determination of the internal stress from the...

The stress–strain response of a Fe–17.5Mn–0.7C–2Al TWIP steel during cyclic loading has been investigated by means of tension–compression tests within the strain limits of 72%, 75% and 710%. In addition, the microstructural evolution during the 75% cyclic test has also been studied. The difference between the forward and reverse stress for each pre-strain has been analyzed at 0.2% offset strain...

The TWIP steels show high strain hardening rates with high ductility which results in high ultimate tensile strength. This makes their processing by equal channel angular pressing very difficult. Up to now, this has only been achieved at warm temperatures (above 200 C). In this paper, a FeMnCAl TWIP steel has been processed at room temperature and the resulted microstructure and mechanical prop...

The research on two-wheeled inverted pendulum (TWIP) mobile robots or commonly known as balancing robots have gained momentum over the last decade in a number of robotic laboratories around the world. This paper describes the hardware design of such a robot. The objective of the design is to develop a TWIP mobile robot as well as MATLAB interfacing configuration to be used as flexible platform ...

Twinning induced plasticity steels (TWIP) are very good candidate for automotive industry applications because they potentially offer large energy absorption before failure due to their exceptional strain hardening capability and high strength. However, their behaviour is drastically influenced by the loading conditions. In this work, the mechanical behaviour of a TWIP steel sheet sample was in...