Robot limbo: Optimized planning and control for dynamically stable robots under vertical obstacles

Abstract

We present successful control strategies for dynamically stable robots that avoid low ceilings and other vertical obstacles in a manner similar to limbo dances. Given the parameters of the mission, including the goal and obstacle dimensions, our method uses a sequential composition of IOlinearized controllers and applies stochastic optimization to automatically compute the best controller gains and references, as well as the times for switching between the different controllers. We demonstrate this system through numerical simulations, validation in a physics-based simulation environment, as well as on a novel two-wheeled platform. The results show that the generated control strategies are successful in mission planning for this challenging problem domain and offer significant advantages over hand-tuned alternatives.

Dynamic modeling of a two-wheeled inverted pendulum balancing mobile robot

“…According to the principle of action and reaction between the two rigid bodies, the damping torque to the wheels and the inverted pendulum body must be the same, which is indicated in (19), and it resulted in (25) and (26). In [1], however, the damping torques were regarded as different when they considered the dissipative energy of the robot.…”

“…The characteristics of the 2WBMR can be better understood by dynamic analysis [3], model identification [8], and controllability analysis [17]. Also, relevant algorithm designs of trajectory generation [18] and obstacle avoidance [19] can be assisted by appropriate dynamic models.…”

Dynamic Modelling and Optimal Controlscheme of Wheel Inverted Pendulum for Mobile Robot Application

“…The modelling focuses either on kinematic [6,7] or dynamic issues. In dynamic aspect, Lagrange [8,9], Lagrage-Eular [10], and Newton-Eular [11] used to develop nonlinear WIP mathematical model. However Newton method involved the calculation of unwanted forces and Lagrange method used Lagrange multiplier in their derivation.…”

An Experimental Study on Balancing Stabilization of a Service Robot by Using Sliding Mechanism

“…최근에 모바일 매니퓰레이터에 대한 많은 연구가 진행되 어 왔으며, 두 바퀴를 모바일 로봇 플랫폼으로 사용하는 역 진자형 이동로봇에 관심이 두드러지게 나타나고 있다 [2][3][4][5][6][7][8][9][10][11][12][13][14][15]. 더욱이 밸런싱 기반의 이동로봇에 팔이 부착된 형태 의 서비스로봇에 대한 관심이 높아지고 있다.…”

“…더욱이 밸런싱 기반의 이동로봇에 팔이 부착된 형태 의 서비스로봇에 대한 관심이 높아지고 있다. 두 바퀴 이동 을 통해 좁은 공간에서 이동성을 확보하고, 로봇의 두 팔을 이용하여 다양한 서비스를 제공할 수 있기 때문이다 [2,8,9].…”