Development of a stair traversing two wheeled robot

Abstract

This paper presents a novel approach for stabilizing a two wheeled mobile robot while traversing down a stair terrain. During flight, the drive wheels of the mobile robot are used as control input to generate reaction torque to alter the pre-impact landing angle, ensuring a successful landing. A state dependent feedback control scheme is used for continuous step traversing while keeping the robot upright. Relationships between travel velocity, height of step and landing angle were investigated. The proposed approach was simulated using physics simulation engine and a physical prototype was constructed to confirm simulation findings. Results were compared with conventional two wheeled robot control scheme and effectiveness of proposed approach was confirmed.

BBot, a hopping two-wheeled robot with active airborne control

“…9). We linearized the mathematical models derived in the previous section to design a full state-feedback controller [11]. We use the linear quadratic regulation method to determine the state-feedback control gain matrix K for both ground and airborne controllers.…”

“…BBot is an improved version of our previous prototype [11] with additional hopping capability. Our goal is to develop a mobile robot that is able to traverse common terrains such as steps and stairs in an efficient manner.…”

Locomotion Strategy Selection for a Hybrid Mobile Robot Using Time of Flight Depth Sensor

“…However, ubiquitous implementation of this configuration is prevented by the substantial limitations of these robots on unstructured environments. Despite the significant effort to tackle the problem [1][2][3][4][5], wheels are still far from being a panacea for locomotion in all types of environment.…”

1P1-O02 Analysis and compensation of disturbances for wheeled inverted pendulum assistant robot for load carrying and ramp climbing : Equilibrium point analysis in the presence of disturbances(Mobile Robot with Special Mechanism (1))

“…The I-PENTAR has numerous tasks and developing the control that covers all of them is difficult. One method of consolidating these controls is to have a switching controller that implements context switching and gain scheduling [3]. The problem with this solution is that the determination of the proper conditions as well as the timing of the switching becomes difficult when the number of tasks increases.…”