Operation of the Ballbot on Slopes and with Center-of-Mass Offsets

被引：0
|
作者：
Vaidya, Bhaskar [1 ]
Shomin, Michael [2 ]
Hollis, Ralph [2 ]
Kantor, George [2 ]
机构：
[1] Carnegie Mellon Univ, Inst Robot, Pittsburgh, PA 15213 USA
[2] Inst Robot, Pittsburgh, PA USA
来源：
2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2015年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The ballbot is a human sized, dynamically stable mobile robot that balances on a single, spherical wheel. The current framework for navigation and control makes the assumption that the robot is operating on a level surface without any center-of-mass offset; however, in practice, such a dynamically stable robot has to be able to successfully navigate sloped surfaces and with such offsets. This work develops the equations of motion for the ballbot system on a sloped surface with a center-of-mass offset. The equilibria of this system are analyzed, and a compensation strategy is formulated that allows the ballbot to operate in the presence of slopes and center-of-mass offsets. This work also develops estimation algorithms for slope and center-of-mass offset angles during station-keeping and trajectory following. Results for compensation and estimation are demonstrated experimentally.
引用
收藏
页码：2383 / 2388
页数：6
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