Design and implementation of a step-traversing two-wheeled robot

Huei Ee Yap*, Shuji Hashimoto

*Corresponding author for this work

    Research output: Chapter in Book/Report/Conference proceedingChapter


    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.

    Original languageEnglish
    Title of host publicationEngineering Creative Design in Robotics and Mechatronics
    PublisherIGI Global
    Number of pages12
    ISBN (Print)9781466642263, 9781466642256
    Publication statusPublished - 2013 Jun 30

    ASJC Scopus subject areas

    • Engineering(all)
    • Computer Science(all)


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