The Cubli: A reaction wheel based 3D inverted pendulum

“…This stabilization system allows to compensate external influences, without altering the kinematics of walking, and moments of inertia that occur when you move the manipulators. This stabilization system is an evolution of the design presented in [2][3][4].…”

Section: Itm Web Of Conferencesmentioning

confidence: 99%

Constructive solution of the robotic chassis AnyWalker

Riadchykov

Sechenev

Sinitsa

et al. 2016

ITM Web of Conferences

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Abstract. Presented constructive solution of the robotic system effectively solves the problem of movement in human-adapted not pre-prepared environment. AnyWalker stabilization system consists of three flywheels, implemented in the form of motor-wheels or driven with the help of transfer mechanisms each from its motor, in orthogonal planes, and the centers of mass flywheels are the same. It is proposed to formalize the functionality of the movement in the human-adapted environment in the form of a standard architecture for robotic chassis with the possibility of hardware and software extension.

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“…The ball, which is the basis of the walking robot, is regarded as an inverted pendulum with a flywheel. This was inspired by the Cubli robot presented in [17]. The pendulum has a non-holonomic connection with the support surface.…”

Section: Self-stabilization Of the Platformmentioning

confidence: 99%

Design and Control of Self-Stabilizing Angular Robotics Anywalker

Ryadchikov¹,

Sechenev²,

Sinitsa³

et al. 2017

ijacsa

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Abstract-Walking robots are designed to overcome obstacles when moving. The walking robot AnyWallker is developed, in the design of which the task of self-stabilization of the center of the mass is solved; a special type of chassis is developed, providing movement on high cross-country capability. The paper presents the results of designing and controlling the robot, the architecture of the software complex provides management and mastification of the hardware platform. AnyWalker is actually a chassis which can be used to build robots for many different purposes, such as surveying complex environment, industrial operations, and work in hazardous environment.

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The Cubli: A reaction wheel based 3D inverted pendulum

Cited by 51 publications

References 8 publications

Mechatronic design of a self-balancing three-dimensional inertia wheel pendulum

Mechatronic design of a self-balancing three-dimensional inertia wheel pendulum

Constructive solution of the robotic chassis AnyWalker

Design and Control of Self-Stabilizing Angular Robotics Anywalker

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