相关论文: A New Dynamic Model of a Two-Wheeled Two-Flexible-…
Bipedal robots are essentially unstable because of their complex kinematics as well as high dimensional state space dynamics, hence control and generation of stable walking is a complex subject and still one of the active topics in the…
Self-balancing robot is based on the principle of Inverted pendulum, which is a two-wheel vehicle balances itself up in the vertical position with reference to the ground. It consists of both hardware and software implementation. Mechanical…
This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…
The topic of this paper is to use an intuitive model-based approach to design a networked controller for a recent benchmark scenario. The benchmark problem is to remotely control a two-wheeled inverted pendulum robot via W-LAN…
We present a solvable biped walking model based on an inverted pendulum with two massless articulated legs capable of walking on uneven floors and inclined planes. The stride of the two-legged robot results from the pendular motion of a…
A double pendulum subject to external torques is used as a model to study the stability of a planar manipulator with two links and two rotational driven joints. The hamiltonian equations of motion and the fixed points (stationary solutions)…
In this paper, we present a novel rolling, jumping robot. The robot consists of a driven pendulum mounted to a wheel in a compact, lightweight, 3D printed design. We show that by driving the pendulum to shift the robot's weight…
A spherical robot has many practical advantages as the entire electronics are protected within a hull and can be carried easily by any Unmanned Aerial Vehicle (UAV). However, its use is limited due to finding mounts for sensors. Pendulum…
Reconfigurable robots are at the forefront of robotics innovation due to their unmatched versatility and adaptability in addressing various tasks through collaborative operations. This paper explores the design and implementation of a novel…
Cyber-physical systems, also known as CPS, is an emerging field of technology that combines the physical and digital worlds by allowing for seamless interaction and communication between the two. One of the key characteristics of a CPS is…
An asymmetric two-link robot supported atop a flat platform by wheels that roll and pivot freely, but do not slip laterally, will develop forward momentum if the joint between the links is actuated internally. In particular, oscillations in…
This paper presents a model-based balance stabilization system which takes into account not only the stable part of COM dynamics but also the unstable part. In this system, the overall dynamics of a humanoid robot is approximated using a…
The large deflections of cantilevered beams and plates are modeled and discussed. Traditional nonlinear elastic models (e.g., that of von Karman) employ elastic restoring forces based on the effect of stretching on bending, and these are…
The inverted pendulum is a non-linear unbalanced system that needs to be controlled using motors to achieve stability and equilibrium. The inverted pendulum is constructed with Lego and using the Lego Mindstorm NXT, which is a programmable…
. This paper is aimed to discuss and compare three of the most famous Control Theories on a Two wheeled Self Balancing Robot Simulation using Robot Operating System (ROS) and Gazebo. Two Wheeled Self Balancing Robots are one of the most…
This paper considers the optimal control problem of an extended spring-loaded inverted pendulum (SLIP) model with two additional actuators for active leg length and hip torque modulation. These additional features arise naturally in…
We present a scheme for producing tunable active dynamics in a self-propelled robotic device. The robot moves using the differential drive mechanism where two wheels can vary their instantaneous velocities independently. These velocities…
By the recent spread of machine learning in the robotics field, a humanoid that can act, perceive, and learn in the real world through contact with the environment needs to be developed. In this study, as one of the choices, we propose a…
This paper presents a novel type of mobile rolling robot designed as a modular platform for non-prehensile manipulation, highlighting the associated control challenges in achieving balancing control of the robotic system. The developed…
The vibration of various structures such as blades of turbines, helicopters, and all kinds of rotating robot arms can damage the structures and disrupt their performance and balance. Thus, investigation of the reduction and control of…