Simple realization of balanced motions under different speeds for a mechanical regulator-free bicycle robot

Abstract

SUMMARYMechanical regulator-free bicycle robots have lighter weight and fewer actuators than the traditional regulator-based bicycle robots. In order to deal with the difficulty of maintaining balance for this kind of bicycle robot, we consider a front-wheel drive and mechanical regulator-free bicycle robot. We present the methodologies for realizing the robot's ultra-low-speed track-stand motion, moderate-speed circular motion and high-speed rectilinear motion. A simplified dynamics of the robot is developed using three independent velocities. From the dynamics, we suggest there may be an underactuated rolling angle in the system. Our balancing strategies are inspired by human riders' experience, and our control rules are based on the bicycle system's underactuated dynamics. In the case of track-stand and circular motion, we linearize the frame's rolling angle and configure the robot to maintain balance by the front-wheel's motion with a fixed front-bar turning angle. In the case of the rectilinear motion, we linearize both front-bar steering angle and front-wheel rotating angle, and configure the system to maintain balance by the front-bar's turning with a constant front-wheel rotating rate. Numerical simulations and physical experiments are given together to validate the effectiveness of our control strategies in realizing the robot's proposed three motions.

Dynamical model of a new type of self-balancing tractor-trailer-bicycle

“…We denote the tractor frame by 1 B , the handlebar by 2 B , the front wheel of the tractor by 3 B , the rear wheel of the tractor by 4 B , the front fork of the U-block by 5 B , the rear fork of the U-block by 6 B , and the wheel of the trailer by 7 B . The grounding point is denoted by 1 P , 2 P , and 3 P .…”

“…Researchers who focus on self-balancing bicycle without mechanical regulators include Jones [1], Tanaka [2], Kooijman [3], Huang [4,5], and Li [6], etc. These researchers believed that the unmanned bicycle can achieve the dynamic balance of the body by governing the handlebar turning and the wheels running without adding additional mechanical regulators.…”

“…In the literatures [4][5], Huang introduced the principle of instantaneous rotation axis to analyze the constraints of bicycle robots, and used Lagrange method to establish its dynamic model. Huang also designed a motion controller based on partial feedback linearization method, and finally gave some physical prototype experiments, e.g., in situ, circular motion, linear balanced walking, etc.…”

Continuous reinforcement learning based ramp jump control for single-track two-wheeled robots

“…Single-track two-wheeled (STTW) robots refer to a type of robot having a structure similar to that of bicycles or motorcycles. It has a simple structure, offers energy savings, and has the capability to run on narrow roads (Huang et al, 2015). Moreover, unmanned STTW robot can do the dangerous work instead of the human being.…”