Development of a stair traversing two wheeled robot

Huei Ee Yap; Shuji Hashimoto

doi:10.1109/IROS.2012.6385767

Development of a stair traversing two wheeled robot

Huei Ee Yap^*, Shuji Hashimoto

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

8 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	IEEE International Conference on Intelligent Robots and Systems
Pages	3125-3131
Number of pages	7
DOIs	https://doi.org/10.1109/IROS.2012.6385767
Publication status	Published - 2012
Event	25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve Duration: 2012 Oct 7 → 2012 Oct 12

Other

Other	25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
City	Vilamoura, Algarve
Period	12/10/7 → 12/10/12

ASJC Scopus subject areas

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

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10.1109/IROS.2012.6385767

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title = "Development of a stair traversing two wheeled robot",

abstract = "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.",

author = "Yap, {Huei Ee} and Shuji Hashimoto",

year = "2012",

doi = "10.1109/IROS.2012.6385767",

language = "English",

isbn = "9781467317375",

pages = "3125--3131",

booktitle = "IEEE International Conference on Intelligent Robots and Systems",

note = "25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 ; Conference date: 07-10-2012 Through 12-10-2012",

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AU - Hashimoto, Shuji

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AB - 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.

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BT - IEEE International Conference on Intelligent Robots and Systems

T2 - 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012

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ER -

Development of a stair traversing two wheeled robot

Abstract

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