Adaptive Motion Control of a Terrain-Adaptive Self-Balancing Leg-Wheeled Mobile Robot over Rough Terrain

Tsai, Ching‐Chih; Hsu, Wei-Ting; Tai, Feng‐Chun; Chen, Shih-Che

doi:10.1109/cacs55319.2022.9969857

Cited by 4 publications

(2 citation statements)

References 11 publications

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“…Innovative strategies, such as inverted equilibrium manifolds and advanced jump control algorithms, bolster the robots' balance and steering capabilities [202], [207], [209]. Moreover, these robots exemplify cutting-edge motion planning and control developments, including optimized crawling in tight spaces and the ability to account for real-world uncertainties during simulation testing [210], [211]. Bipedal robots that can adapt to varying ground conditions by blending walking and wheeling techniques show promise in achieving speed and energy efficiency across diverse applications [210], [212].…”

Section: Future Directions Of Control S and Design In Bipedal Wheel-l...mentioning

confidence: 99%

Evolution, Design, and Future Trajectories on Bipedal Wheel-legged Robot: A Comprehensive Review

Mansor,

Irawan,

Abas

2023

IJRCS

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This comprehensive review delves into the realm of bipedal wheel-legged robots, focusing on their design, control, and applications in assistive technology and disaster mitigation. Drawing insights from various fields such as robotics, computer science, and biomechanics, it offers a holistic understanding of these robots' stability, adaptability, and efficiency. The analysis encompasses optimization techniques, sensor integration, machine learning, and adaptive control methods, evaluating their impact on robot capabilities. Emphasizing the need for adaptable, terrain-aware control algorithms, the review explores the untapped potential of machine learning and soft robotics in enhancing performance across diverse operational scenarios. It highlights the advantages of hybrid models combining legged and wheeled mobility while stressing the importance of refining control frameworks, trajectory planning, and human-robot interactions. The concept of integrating soft and compliant mechanisms for improved adaptability and resilience is introduced. Identifying gaps in current research, the review suggests future directions for investigation in the fields of robotics and control engineering, addressing the evolution and terrain adaptability of bipedal wheel-legged robots, control, stability, and locomotion, as well as integrated sensory and perception systems, microcontrollers, cutting-edge technology, and future design and control directions.

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Section: Future Directions Of Control S and Design In Bipedal Wheel-l...mentioning

confidence: 99%

Evolution, Design, and Future Trajectories on Bipedal Wheel-legged Robot: A Comprehensive Review

Mansor,

Irawan,

Abas

2023

IJRCS

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“…En Singh et al (2020) se utilizó para agregar un grado de libertad a un escáner 2D y poder realizar nubes de puntos en 3D; esto utilizando la información de la posición que ofrece el servomotor mismo. También se ha utilizado para mover las ruedas de un robot balancín diseñado para terrenos difíciles (Tsai et al, 2022) y en robots del tipo araña con aplicaciones interesantes como la detección de minas en zonas desmilitarizadas (Oh y Kim, 2021).…”

Section: Introductionunclassified

Mejoramiento de un servomotor inteligente de bajo costo

Sánchez-García,

Bugarin,

Aguilar-Bustos

2023

ICBI

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En este artículo se describe una mejora implementada al servomotor Dynamixel AX-12, un servomotor inteligente de bajo costo muy utilizado en el diseño y construcción de robots avanzados para entretenimiento e investigación. Se detalla la modificación de su software y hardware a fin de cambiar su protocolo de comunicación original por SPI y con esto lograr mayores velocidades de transmisión de datos entre servomotores del mismo tipo y sistemas de cómputo supervisores que operen en tiempo real. Adicionalmente, se le programa un controlador PD con prealimentación para regular tanto la velocidad como la posición angular de su eje de carga, con un periodo de muestreo de 1 [ms] (10 veces mayor respecto a lo alcanzado con el servomotor original). Finalmente se describen las conclusiones obtenidas respecto al comportamiento satisfactorio tanto de lo teórico como de lo experimental.

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Nonlinear Model Predictive Control for a Self-Balancing Wheelchair

Liu,

Qin,

Xin

et al. 2024

IEEE Access

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The self-balancing wheelchair is characterized by its small size, flexibility, and strong ground adaptability. To expand the control range of the pitch angle and enhance the stability of the self-balancing wheelchair, this paper presents a nonlinear model predictive control (NMPC) method for challenges in online motion planning and control. We apply the NMPC formulation with the nonlinear state equation as a constraint that captures the accurate kinematics and dynamics of the wheelchair. We utilize direct transcription to discretize the formulation and convert it into a nonlinear programming problem. We establish a control loop that includes a PD controller to apply NMPC to a wheelchair. We conduct simulations under different state commands and external forces and demonstrate that the proposed method can achieve fast convergence speeds, strong robustness, and high stability motions under extreme pitch angles.

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Adaptive Motion Control of a Terrain-Adaptive Self-Balancing Leg-Wheeled Mobile Robot over Rough Terrain

Cited by 4 publications

References 11 publications

Evolution, Design, and Future Trajectories on Bipedal Wheel-legged Robot: A Comprehensive Review

Evolution, Design, and Future Trajectories on Bipedal Wheel-legged Robot: A Comprehensive Review

Mejoramiento de un servomotor inteligente de bajo costo

Nonlinear Model Predictive Control for a Self-Balancing Wheelchair

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