OmBURo: A Novel Unicycle Robot with Active Omnidirectional Wheel

Shen, Junjie; Hong, Dennis

doi:10.1109/icra40945.2020.9196927

Cited by 15 publications

(7 citation statements)

References 23 publications

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“…The unique features and the resulting control challenges make the research on unicycle robots of great theoretical significance and practical value. [3] The development of the self-balancing unicycle can be traced back to 1987 when Schoonwinkel developed the first selfbalancing unicycle. [4] Building on Schoonwinkel's design, Vos designed a linear quadratic regulator.…”

Section: Introductionmentioning

confidence: 99%

Research and design of unicycle robot based on cascade PID control

Huang

2024

International Conference on Mechatronic Engineering and Artificial Intelligence (MEAI 2023)

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In robotics, achieving stable control of unicycles presents a significant challenge. However, standard balance control methods concentrate on regulating the position and static balance of the robot. Such techniques exhibit diminished performance in the presence of external disruptions or uncertain terrain. To enhance the stability and resilience of unicycles in dynamic settings, this research presents a double-flywheel unicycle robot that utilizes the conservation of angular momentum in a dual-gyroscope system to maintain its balance. Through the integration of mechanical design, electronic design, and controller design, a prototype of the unicycle robot is fabricated. For adaptive balance control, a cascaded PID controller based on MATLAB dynamic simulation is developed. The cascaded PID controller comprises angle, velocity, and angular velocity loops, enabling non-linear and coupled balance control. Moreover, using MECHANICS EXPLORERS, the disturbance rejection capacity of the designed cascaded PID controller is confirmed through pulse interference simulation. This study uses exercises that traverse ramps and maneuver corners to demonstrate the unicycle robot's dynamic balance. This exemplified the resilience of the entire balance system, demonstrating its capacity to recuperate from disruptions and uphold stability. The unicycle robot, in conjunction with the cascaded PID controller, can enhance response speed and achieve high-precision balance control performance, enabling stable motion in complex environments. This study significantly guides the development of newfound intelligent, flexible, and adaptable unicycle robots, providing novel ideas and approaches for future robot design and control.

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Section: Introductionmentioning

confidence: 99%

Research and design of unicycle robot based on cascade PID control

Huang

2024

International Conference on Mechatronic Engineering and Artificial Intelligence (MEAI 2023)

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“…[3] Numerous holonomic mobile robots have been subject to study. [4] For instance, omniwheeled robots [5][6][7] and ball-wheeled robots [8][9][10][11] have been investigated as types of wheeled mobile robots. Multilegged robots [12][13][14][15][16] excel at stable walking on uneven terrain and rubble due to the independent movement of multiple legs.…”

Section: Introductionmentioning

confidence: 99%

Automatic Holonomic Mobile Micromanipulator for Submillimeter Objects Inspired by the Rhinoceros Beetle

Suzuki,

Iida,

Tsukui

et al. 2024

Advanced Intelligent Systems

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Holonomic mobile micromanipulators driven by piezoelectric actuators offer precision and compact design. However, attaining both high speed and positioning repeatability with sufficient load capacity poses challenges, given that lightweight robots are susceptible to nonuniform driving surfaces and external forces. A holonomic beetle (HB) is proposed to realize a wide range, compact size, precise holonomic motion, automatic micromanipulation, and high‐speed movement simultaneously. Inspired by the biological makeup of a Rhinoceros Beetle, a length, weight, and load capacity of 8 cm, 74 g, and of 2000 g, respectively, are used. The HB is a two‐legged robot with a pseudoalternating tripod gait locomotion principle, with five piezoelectric actuators for XYθ displacement and switching of the contact leg. It achieves maximum walking velocities of 11.6 mm s−1 for translational motion and 19.3 deg s−1 for rotation, with a displacement resolution of 12 nm. Notably, under open‐loop control, the HB demonstrates high repeatability with a coefficient of variation of 0.3%. It exhibits the capability to climb 30°‐inclined surfaces, traverse flat surfaces with 0.1 mm bumps, and navigate 30 mm pits. Furthermore, the HB showcases practical automatic micromanipulation through visual servo control and machine learning, presenting potential applications in biomedical and microassembly fields.

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“…Some robots do not need to be balanced control by using many wheels. But, the flexibility of these kinds of robots is not as good as a robot on a one-wheel [2] or on a ball [3] -ballbot. With the structure of a robot on a ball, it can smoothly turn itself around and move in multi-direction.…”

Section: Introductionmentioning

confidence: 99%

PID-LQR Combined Linear Controller for Balancing Ballbot: Simulation and Experiment

Nguyen,

Cu,

Nguyen

et al. 2024

JFSC

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Ballbot is a robotic structure in which the robot self-balances on a ball by rotating wheels. This robot is a popular form of service robot. Developing controllers for this system provides academic tools for reality. In this paper, after presenting the dynamic equations of the ballbot, we design a Proportional Integrated Derivative (PID)-Linear Quadratic Regulator (LQR) combined (PID-LQR) controller to balance the robot on the ball. The simulation results show the success of this method. An experimental model of a ballbot is presented. In the experiment, PID-LQR combined controller also shows its ability to self-balancing for the ballbot. With this finding, a method of controlling this model is a reference for developing this service robot.

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OmBURo: A Novel Unicycle Robot with Active Omnidirectional Wheel

Cited by 15 publications

References 23 publications

Research and design of unicycle robot based on cascade PID control

Research and design of unicycle robot based on cascade PID control

Automatic Holonomic Mobile Micromanipulator for Submillimeter Objects Inspired by the Rhinoceros Beetle

PID-LQR Combined Linear Controller for Balancing Ballbot: Simulation and Experiment

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