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

Huei Ee Yap*, Shuji Hashimoto


    研究成果: Chapter


    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.

    ホスト出版物のタイトルEngineering Creative Design in Robotics and Mechatronics
    出版社IGI Global
    ISBN(印刷版)9781466642263, 9781466642256
    出版ステータスPublished - 2013 6月 30

    ASJC Scopus subject areas

    • 工学(全般)
    • コンピュータ サイエンス(全般)


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