Development of a stair traversing two wheeled robot

Huei Ee Yap, Shuji Hashimoto

    研究成果: Conference contribution

    8 引用 (Scopus)

    抜粋

    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.

    元の言語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
    出版物ステータス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
    Vilamoura, Algarve
    期間12/10/712/10/12

      フィンガープリント

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Software
    • Computer Vision and Pattern Recognition
    • Computer Science Applications

    これを引用

    Yap, H. E., & Hashimoto, S. (2012). Development of a stair traversing two wheeled robot. : IEEE International Conference on Intelligent Robots and Systems (pp. 3125-3131). [6385767] https://doi.org/10.1109/IROS.2012.6385767