The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
We present trajectory tracking and balance control of an autonomous bikebot. The bikebot is a single-track autonomous mobile robot that is designed to study unstable physical human-robot interactions. The controller is built on the property of the external-internal convertible (EIC) structure for the bikebot dynamics. We present two types of the designs and analyses of the control systems and also...
Postural balance control of machines is one of the most important human motor skills. We present a balance equilibrium manifold (BEM) concept to study how a human rider balances a bicycle-like robot (i.e., bikebot) while maintaining tracking a desired trajectory. The BEM is built on the external-internal convertible (EIC) structure of the rider-bikebot dynamics to capture the balance properties of...
Understanding how human balance and control bicycles is helpful for not only designing bicycle-based rehabilitation devices but also studying physical human-machine interactions. We present stability analysis of a rider-bicycle system under the rider's steering and upper-body movement balancing controls. The dynamic model of rider-bicycle system is first constructed to integrate the rider's upper-body...
We present the development of the gyroscopic-balanced control of an autonomous bikebot. The bikebot is an actively controlled bicycle-based robotic platform with a gyro-balancer developed to study human dynamic postural balance motor skills through unstable physical human-robot interactions. We also present a dynamic model and analysis for stationary bikebot. A nonlinear balancing controller is designed...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.