Balancing on a Rolling Contact

This letter presents a controller for robots that balance in a vertical plane on a rolling contact on a flat horizontal surface. It is an extension of Featherstone's balance controller to the case of robots that balance on rounded feet or wheels. Simulation results demonstrate the ability of th...

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Bibliographic Details
Published in:IEEE robotics and automation letters 2023-12, Vol.8 (12), p.8184-8191
Main Authors: Allione, Federico, Featherstone, Roy, Wensing, Patrick M., Caldwell, Darwin
Format: Article
Language:English
Subjects:
Body balancing
Controllers
dynamics
Foot
Motion control
Pendulums
Robot control
Robot dynamics
Robot kinematics
Rolling contact
Tracking
Wheels
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Summary:This letter presents a controller for robots that balance in a vertical plane on a rolling contact on a flat horizontal surface. It is an extension of Featherstone's balance controller to the case of robots that balance on rounded feet or wheels. Simulation results demonstrate the ability of the new controller to balance an inverted double pendulum on a rolling contact and to balance a Segway-like wheeled robot and make it follow a motion command signal. Experimental validation is provided on an underactuated inverted double pendulum robot.
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2023.3326696