Design and Implementation of a Step-Traversing Two-Wheeled Robot

Design and Implementation of a Step-Traversing Two-Wheeled Robot

Huei Ee Yap (Waseda University, Japan) and Shuji Hashimoto (Waseda University, Japan)
Copyright: © 2019 |Pages: 16
DOI: 10.4018/978-1-5225-8060-7.ch009
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In this chapter, the authors present the design and implementation of a step-traversing two-wheeled robot. Their proposed approach aims to extend the traversable workspace of a conventional two-wheeled robot. The nature of the balance problem changes as the robot is in different phases of motion. Maintaining balance with a falling two-wheeled robot is a different problem than balancing on flat ground. Active control of the drive wheels during flight is used to alter the flight of the robot to ensure a safe landing. State dependent feedback controllers are used to control the dynamics of the robot on ground and in air. Relationships between forward velocity, height of step, and landing angle are investigated. A physical prototype has been constructed and used to verify the viability of the authors' control scheme. This chapter discusses the design attributes and hardware specifications of the developed prototype. The effectiveness of the proposed control scheme has been confirmed through experiments on single- and continuous-stepped terrains.
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2. Dynamics Of The Robot

In this section, we derive the planar equations of motion of the system on ground and in airborne phases to understand the dynamic behavior of the two-wheeled pendulum. When traversing stepped terrain the robot goes through several different dynamic phases, from on the ground to airborne to on the ground again. The changes in the dynamic phases cause discontinuities in the governing equations of motion. To simplify the analysis we have assumed the equations for different phases of motion are separable and can be derived and analyzed independently.

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