Development of a single-wheeled inverted pendulum robot capable of climbing stairs

Wardana, Ananta Adhi; Takaki, Takeshi; Jiang, Mingjun; Ishii, Idaku

doi:10.1080/01691864.2020.1749927

Cited by 7 publications

(2 citation statements)

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In recent years, with the progressive aging of the population, the use of various mobilityassisting devices, such as walkers [1][2][3][4][5], canes [6,7], exoskeletons [8][9][10], wheelchairs [11,12], and mobility scooters [13,14], has become prevalent. Such mobility devices typically use wheels.…”

Section: Introductionmentioning

confidence: 99%

Two Functional Wheel Mechanism Capable of Step Ascending for Personal Mobility Aids

et al. 2023

View full text Add to dashboard Cite

Obstacles such as ramps, steps, and irregular floor surfaces are commonly encountered in homes, offices, and other public spaces. These obstacles frequently limit the daily activities of people who use mobility aids. For this purpose, this study solves a slope minimization problem for personal mobility aids. As a solution approach, a gradient-reduction scheme is proposed, which allows existing mobility aids to reduce the required horizontal forces and vibrations when ascending steps while maintaining their wheel sizes. Practically, an axle-transitional wheel mechanism realizing the gradient-reduction computation model is established, and its step-ascending wheel prototype is developed. Specifically, since the proposed wheel enables integration into existing personal mobility-assisting devices, two functional roles, such as rolling and step ascending, can be used. The developed step-climbing wheel can help the users of mobility aids mitigate the aforementioned limitations. The physical and mental burdens of caregivers and medical staff can also be reduced by making the users of the gradient-reduction scheme more self-sufficient. This study provides details on the axle-transitional wheel mechanism and its step-ascending wheel prototype. The findings are analyzed mathematically, and their functionality is verified through extensive experiments using a prototype.

show abstract

Section: Introductionmentioning

confidence: 99%

Two Functional Wheel Mechanism Capable of Step Ascending for Personal Mobility Aids

et al. 2023

View full text Add to dashboard Cite

show abstract

“…Generally, there are two methods for providing these two kinds of stability. One is controlling accelerating or decelerating to obtain the torque of the robot to provide the dynamical balance by using the robot's inertia [1][2][3][4]22]. The other uses an external centrifugal force to maintain stability, such as a spinning flywheel [23][24][25][26].…”

Section: Introductionmentioning

confidence: 99%

Advanced Proportional-Integral-Derivative Control Compensation Based on a Grey Estimated Model in Dynamic Balance of Single-Wheeled Robot

Chen

Wen³

et al. 2021

Axioms

View full text Add to dashboard Cite

This paper aims to design a one-wheeled robot as regards its pitch freedom and balance control on the one hand and to assess the application feasibility of the GM (1,1) swing estimation controller on the other. System control focuses mainly on one-wheeled robot stability, body swings in position, and speed control. Mathematical modeling and GM (1,1) prediction control are under investigation. The mathematical modeling is firstly conducted through referencing to the Newtonian mechanics and the Lagrange equation, from which the robot transfer function and state-space differential equation are derived. Next, the linear quadratic regulator is applied as the control rule at the balance point. Applying GM (1,1) to assess the robot gyro signal at a dynamic state is a discussion. Next, model reference estimation control is processed, and a mathematical model of the balance control method is completed. Finally, a simulation is conducted to verify the feasibility of the GM (1,1) estimation reference model. The linear quadratic regulator, which is credited with tenacity, can provide pitch swing and balance control of the one-wheeled robot.

show abstract

Logic motion algorithm and design of flexible limb of gecko-imitating robot

Liang¹,

Fengshun²,

et al. 2023

Int J Adv Manuf Technol

View full text Add to dashboard Cite

The transmission tower climbing robot runs up and down along the tower tri-steel skeleton， and is supposed to stay in the required position firmly, transporting and installing the safety cable at the appropriate tower end for provision of the basic life safety guarantee for the operator during climbing and operating in maintenance.This paper puts forward and designs a set of robot and intelligent control with the hardware system of homing and pseudo-target excluding algorithms. In Euclidean n dimension space with the real number, definitions and constructions of the robot climbing state sequence number set are down with the norm sequence number set of the two adjacent rotary center distance of the handles on the same side of the skeleton, machine vision, and W-type sensor layout of discrete -continuous integration, efficiently homing the real goals and reliably identifying the pseudo target. According to the three point support -one point fetching, design of flexible appendage logical sequence were built up, not only guarantee the biomimetic gecko type climbing, and ensure the reliable grip of the robot hand with respect to to help handle,Together with the hardware design, the robot can work safely and reliably and transport the safety cable to the tower end. Because of the non-uniformity of the arrangement of the handle along the skeleton, the most critical problem to be solved in the climbing process is the robot's searching and reliable grasping.

show abstract

Development of a single-wheeled inverted pendulum robot capable of climbing stairs

Cited by 7 publications

References 11 publications

Two Functional Wheel Mechanism Capable of Step Ascending for Personal Mobility Aids

Two Functional Wheel Mechanism Capable of Step Ascending for Personal Mobility Aids

Advanced Proportional-Integral-Derivative Control Compensation Based on a Grey Estimated Model in Dynamic Balance of Single-Wheeled Robot

Logic motion algorithm and design of flexible limb of gecko-imitating robot

Contact Info

Product

Resources

About