Title: Dynamic step traverse of a two-wheeled mobile robot
Authors: Huei Ee Yap; Shuji Hashimoto
Addresses: Shuji Hashimoto Laboratory, Department of Applied Physics, Graduate School of Advanced Science and Engineering, Waseda University, 55N-4F-10A, 3-4-1 Okubo, Shinjuku-ku, 169-8555, Tokyo, Japan ' Shuji Hashimoto Laboratory, Department of Applied Physics, Graduate School of Advanced Science and Engineering, Waseda University, 55N-4F-10A, 3-4-1 Okubo, Shinjuku-ku, 169-8555, Tokyo, Japan
Abstract: We present a novel approach to enable a two-wheeled mobile robot to traverse stepped terrains while maintaining balance. By utilising the drive wheels as reaction wheels to generate reaction torque during flight, it is possible to regulate the attitude of the robot and alter the pre-impact landing angle, ensuring a successful landing. A state dependent feedback control scheme is designed to control the motion of the robot while keeping it upright. By taking into consideration the dynamics of the motion, the two-wheeled robot is able to traverse stepped terrain in a dynamic and fast manner. Our prototype robot has successfully negotiate steps, stairs as well as steps up to 70 cm high. Results of our findings confirm the viability and effectiveness of our proposed approach.
Keywords: two-wheeled robots; reaction wheels; step traverse; stair traverse; dynamic step traverse; stepped terrains; attitude control; airborne robots; feedback control; optimal control; inverted pendulum; robot control; mobile robots; reaction torque; robot dynamics; robot motion; motion dynamics; steps; stairs.
DOI: 10.1504/IJMMS.2013.052781
International Journal of Mechatronics and Manufacturing Systems, 2013 Vol.6 No.1, pp.3 - 22
Received: 16 Apr 2012
Accepted: 08 Oct 2012
Published online: 12 Jul 2014 *