Development of a stair traversing two wheeled robot

Huei Ee Yap*, Shuji Hashimoto

*この研究の対応する著者

    研究成果: Conference contribution

    8 被引用数 (Scopus)

    抄録

    This paper presents a novel approach for stabilizing a two wheeled mobile robot while traversing down a stair terrain. During flight, the drive wheels of the mobile robot are used as control input to generate reaction torque to alter the pre-impact landing angle, ensuring a successful landing. A state dependent feedback control scheme is used for continuous step traversing while keeping the robot upright. Relationships between travel velocity, height of step and landing angle were investigated. The proposed approach was simulated using physics simulation engine and a physical prototype was constructed to confirm simulation findings. Results were compared with conventional two wheeled robot control scheme and effectiveness of proposed approach was confirmed.

    本文言語English
    ホスト出版物のタイトルIEEE International Conference on Intelligent Robots and Systems
    ページ3125-3131
    ページ数7
    DOI
    出版ステータスPublished - 2012
    イベント25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve
    継続期間: 2012 10 72012 10 12

    Other

    Other25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
    CityVilamoura, Algarve
    Period12/10/712/10/12

    ASJC Scopus subject areas

    • 制御およびシステム工学
    • ソフトウェア
    • コンピュータ ビジョンおよびパターン認識
    • コンピュータ サイエンスの応用

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