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A two-wheel wheelchair is a wheelchair without casters. It is underactuated system, and it can be modeled as an inverted pendulum. A two-wheel wheelchair has improved former problems of a conventional four-wheel wheelchair, such as step passing capability. However, two-wheel wheelchair still requires high torque for step passage. To generate high torque command of wheel, large posture movement of...
Most of the research so far on two wheeled mobile robots is on the control of the robot body. However when a robot is implemented in real environment the range of initial conditions of different states of the robot need to be known for safe operation. This paper presents the estimation of safe region of initial conditions of states for a statically unstable two wheeled mobile robot using a standard...
Unicycle mobile robot main advantages over multi-wheeled mobile robot are higher degree of mobility and less space as it only has one wheel to move. The system developed consists of two parts which are the lower and the upper parts. The lower part is composed of a wheel which is moving back and forth to stabilize the pitch angle. Meanwhile, the upper part consists of a reaction disc and the main frame...
The control of a snake-like robot is a challenging problem because of the complex dynamics and the unknown environment. We have proposed an energy-based method, called passive creeping, to control the serpentine locomotion. This paper lays emphasis on the stability and the adaptability of the method. First, the local orbital stability of the movement is explicated based on the maximal Lyapunov exponent...
An Unmanned bicycle stability adjusting mode by use of parallel mechanism is presented, and dynamics model of the unmanned bicycle with parallel mechanism adjusting stability is upbuilt in this paper. In order to increase stability and mobility, and carrying capability, the unmanned bicycle is controlled by a pedalling torque, a directional torque that generated using the steer adjustment, and by...
In this paper, we propose a control algorithm for trajectory tracking control with self balancing of unmanned bicycle by using nonlinear control based on the output-zeroing controller. The simplified model of the bicycle with the balancer is derived from Lagrangian and nonholonomic constraints with respect to translation and rotation relative to the ground plane. We derived a controller using a steering...
An omni-directional rolling spherical robot equipped with a high-rate flywheel (BYQ-V) is presented, the gyroscopic effects of high-rate flywheel can further enhance the dynamic stability of the spherical robot. This robot is designed for territory or lunar exploration in the future. The mechanical structure and control system of the robot are given particularly. Using the constrained Lagrangian method,...
The unique human-machine integral system of lower extremity carrying exoskeleton system calls for the similar structure for the human and the exoskeleton, which can simply the stability analysis, but the exoskeleton structure becomes complex. At the same time, the effective lower extremity carrying exoskeleton control method, that is, virtual torque control method demands the exact mass attributes...
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