Control of the Two-wheeled Inverted Pendulum (TWIP) Robot Moving on the Continuous Uneven Ground

Zhou, Haitao; Xu, Liang; Feng, Haibo; Li, Enbo; Ding, Pengchao; Zhai, Yanwu; Zhang, Songyuan; Fu, Yili

doi:10.1109/robio49542.2019.8961858

Cited by 4 publications

(2 citation statements)

References 15 publications

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“…The fusion of these advanced robotic structures with sophisticated control techniques enhances their proficiency in responding to emergencies and exploring unfamiliar terrains [122], [192], [193], [198]. Additionally, the adoption of simplified control frameworks, kinematic control models, and transformation methods results in superior velocity tracking and efficient navigation on uneven terrains [73], [194], [196], [199]- [204].…”

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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“…Herrera et al [29] designed an LQR controller and optimized the parameters by genetic algorithms to improve the reference tracking performance of a TWIP system. Zhou et al [30] applied sliding mode control and an extended Kalman filter to enable a TWIP robot to track a reference position or velocity trajectory on uneven ground. Jin and Ou [31] developed a learning method for a TWIP robot to guarantee path-following and balance.…”

Section: Introductionmentioning

confidence: 99%

Decoupled Multi-Loop Robust Control for a Walk-Assistance Robot Employing a Two-Wheeled Inverted Pendulum

et al. 2021

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This paper develops a decoupled multi-loop control for a two-wheeled inverted pendulum (TWIP) robot that can assist user’s with walking. The TWIP robot is equipped with two wheels driven by electrical motors. We derive the system’s transfer function and design a robust loop-shaping controller to balance the system. The simulation and experimental results show that the TWIP system can be balanced but might experience velocity drifts because its balancing point is affected by model variations and disturbances. Therefore, we propose a multi-loop control layout consisting of a velocity loop and a position loop for the TWIP robot. The velocity loop can adjust the balancing point in real-time and regulate the forward velocity, while the position loop can achieve position tracking. For walking assistance, we design a decoupled control structure that transfers the linear and rotational motions of the robot to the commands of two parallel motors. We implement the designed controllers for simulation and experiments and show that the TWIP system employing the proposed decoupled multi-loop control can provide satisfactory responses when assisting with walking.

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Control of the Wheeled Bipedal Robot on Roads with Large and Unknown Inclination

Tu,

Lu,

Piao

2023

Lecture Notes in Computer Science

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Control of the Two-wheeled Inverted Pendulum (TWIP) Robot Moving on the Continuous Uneven Ground

Cited by 4 publications

References 15 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

Decoupled Multi-Loop Robust Control for a Walk-Assistance Robot Employing a Two-Wheeled Inverted Pendulum

Control of the Wheeled Bipedal Robot on Roads with Large and Unknown Inclination

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