Dynamic modeling and adaptive controller design for a wire-moving robot

Mo, Xinhu; Song, Yuan

doi:10.1109/chicc.2015.7260104

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Cited by 4 publications

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“…proposed a two wheels wire-walking robot that was balanced with a mechanical gyroscope. While in [2,3,4,5,6], Lu etc. presented a wire-walking robot balancing by a rotating pole.…”

Section: Introductionmentioning

confidence: 99%

The Influence of the Swinging Arms on the Balanced Dynamics of a Wire-Walking Robot Running above a Flexible Wire

Huang¹,

Chen²,

Wang³

et al. 2017

dtetr

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Abstract. This paper focused on a single wheel robot that runs on a flexible wire, and the principal consideration was the influence of its swinging arms on the balanced dynamics of the system. The robot was designed with two swinging arms and a rotational pole to imitate a real human wire walker. Under the pure rolling condition of the single wheel, a dynamical model was developed for the system by Lagrange equation. With the model, balanced motions under the regulation of the rotational pole coorperating with the swinging arms were investigated. The inverse dynamics simulations showed that, the different swinging arms action would correspond to different driving input torques, but there would be a trough maximum torque at a certain feedback action of the swinging arms.

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“…proposed a two wheels wire-walking robot that was balanced with a mechanical gyroscope. While in [2,3,4,5,6], Lu etc. presented a wire-walking robot balancing by a rotating pole.…”

Section: Introductionmentioning

confidence: 99%