Intention Recognition Learning and Support Control by Inverted Two-Wheeled Pendulum Mobile Robot through Interactive Physical Operation

Two-wheeled inverted pendulum mobile robots have been developed so far as a transportation assistant system. The robot recognizes the user intention by the user's physical operation of the robot. It changes the control parameters according to the user intention. The conventional system fixes the number of user intentions beforehand, however, the number of intentions can vary according to a user preference. This paper proposes a data clustering system for user intention recognition and an incremental learning system of the intention recognition modules for the inverted mobile robot that is interactively operated by a user. It shows some experimental results with a real robot in order to show the validity of theproposed method.