JOE: a mobile, inverted pendulum

Grasser, F.; D’Arrigo, A.; Colombi, S.; Rufer, A.

doi:10.1109/41.982254

Cited by 686 publications

(286 citation statements)

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“…Most mobile robots are built with hard materials (hard robots), either by adding treads or wheels (10,11) to conventional machines to increase their mobility, or by starting with conceptual models based on animals [e.g., Big Dog (12) and many others (13)(14)(15)], and replicating some of their features in hard structures. Although robotics has made enormous progress in the last 50 years, hard robots still have many limitations.…”

mentioning

confidence: 99%

Multigait soft robot

Shepherd

Ilievski

Choi

et al. 2011

Proc. Natl. Acad. Sci. U.S.A.

1,764

1,232

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This manuscript describes a unique class of locomotive robot: A soft robot, composed exclusively of soft materials (elastomeric polymers), which is inspired by animals (e.g., squid, starfish, worms) that do not have hard internal skeletons. Soft lithography was used to fabricate a pneumatically actuated robot capable of sophisticated locomotion (e.g., fluid movement of limbs and multiple gaits). This robot is quadrupedal; it uses no sensors, only five actuators, and a simple pneumatic valving system that operates at low pressures (<10 psi). A combination of crawling and undulation gaits allowed this robot to navigate a difficult obstacle. This demonstration illustrates an advantage of soft robotics: They are systems in which simple types of actuation produce complex motion.biomimetic | mobile R obotics developed to increase the range of motions and functions open to machines, and to build into them some of the characteristics [including autonomous motion (1-3), adaptability to the environment (4-7), and capability of decision making (8, 9)] of animals, particularly animals with skeletons. Most mobile robots are built with hard materials (hard robots), either by adding treads or wheels (10, 11) to conventional machines to increase their mobility, or by starting with conceptual models based on animals [e.g., Big Dog (12) and many others (13-15)], and replicating some of their features in hard structures. Although robotics has made enormous progress in the last 50 years, hard robots still have many limitations. Some of these limitations are mechanical, and include instability when moving in difficult terrain; some have to do with the ranges of motions afforded by actuators and structures (e.g., metal rods, mechanical joints, and electric motors); some stem from the complexity in control (especially when handling materials and structures that are soft, delicate, and complex in shape). Hard robots fabricated from metals are also often heavy and expensive, and thus are not suitable for some applications.New classes of robots may thus find uses in applications where conventional hard robots are unsuitable. We are interested in a unique class of robots: That is, soft robots fabricated in materials (predominantly elastomeric polymers) that do not use a rigid skeleton to provide mechanical strength. The objective of this work is to demonstrate a soft robot that requires only simple design and control to generate mobility. In this demonstration, we begin to address some of the issues that have limited the development of soft robots. Instead of basing this and other designs on highly evolved animals as models, we are using simpler organisms [e.g., worms (16) and starfish (17)] for inspiration. These organisms, ones without internal skeletons, suggest designs that are simpler to make and are less expensive than conventional hard robots, and that may, in some respects, be more capable of complex motions and functions. Simple, inexpensive systems will probably not replace more complex and expensive ones, but may have different...

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mentioning

confidence: 99%

Multigait soft robot

Shepherd

Ilievski

Choi

et al. 2011

Proc. Natl. Acad. Sci. U.S.A.

1,764

1,232

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“…세그웨이는 지금까지의 모바일 이동수단의 상식을 벗어난 차세대 이동수단으로써 두 개의 바퀴만으로도 스스로 균형을 잡으면서 넘어지지 않고 안정적인 주행이 가능하였다 [1]. 이후 Grasser 등은 JOE라 불리는 이륜 이동로봇을 개발하고 두 개의 분리된 상태제어기를 제안하여 안정적인 주행에 성공하였다 [2].…”

Section: 서 론unclassified

Robust Control Design for a Two-Wheeled Inverted Pendulum Mobile Robot

Yoo

2016

Journal of Korean Institute of Intelligent Systems

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The research on two-wheeled inverted pendulum (TWIP) mobile robots has been ongoing in a number of robotic laboratories around the world. In this paper, we consider a robust controller design for the TWIP mobile robot driving on uniform slopes. We use a 2 degree-of-freedom (DOF) model which is obtained by restricting the spinning motion in a 3 DOF motion dynamic equation. In order to design the robust controller guaranteeing stability of the TWIP mobile robot driving on inclined surface, we propose a sliding mode control based on the theory of variable structure systems and design a sliding surface using the theory of the linear quadratic regulation (LQR). For simulation, the dynamic model of the TWIP mobile robot is constructed using Mathworks' Simulink and the sliding mode control is also implemented using Simulink. From simulation results, we show that the proposed controller effectively controls the TWIP mobile robot driving on slopes.

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“…In this section, the Newton method is applied for determining the mathematical model of the eScooter [4][5]. Figure 1 shows the coordinate system of the eScooter.…”

Section: Mathematical Model Of the Escootermentioning

confidence: 99%

“…Up to now, some research results published on self-balancing two-wheeled mobile robots have focused on the following issues. Papers [4][5] presented the development of twowheeled mobile robots (TWMRs). TWMRs, such as the selection of actuators and sensors, signal processing units, modelling and the control scheme were addressed and discussed.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Backstepping Self-balancing Control of a Two-wheel Electric Scooter

Sơn¹,

Ánh

2014

International Journal of Advanced Robotic Systems

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This paper introduces an adaptive backstepping control law for a two-wheel electric scooter (eScooter) with a nonlinear uncertain model. Adaptive backstepping control is integrated with feedback control that satisfies Lyapunov stability. By using the recursive structure to find the controlled function and estimate uncertain parameters, an adaptive backstepping method allows us to build a feedback control law that efficiently controls a self-balancing controller of the eScooter. Additionally, a controller area network (CAN bus) with high reliability is applied for communicating between the modules of the eScooter.Simulation and experimental results demonstrate the robustness and good performance of the proposed adaptive backstepping control.

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JOE: a mobile, inverted pendulum

Cited by 686 publications

References 1 publication

Multigait soft robot

Multigait soft robot

Robust Control Design for a Two-Wheeled Inverted Pendulum Mobile Robot

Adaptive Backstepping Self-balancing Control of a Two-wheel Electric Scooter

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