Stationary balance control of a bikebot
Stationary balance control of a bikebot
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自行车机器人的固定平衡控制
DOI：
10.1109/icra.2014.6907849
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发表时间：
2014
期刊：
影响因子：
--
通讯作者：
Tao Liu
中科院分区：
文献类型：
--
作者：
Yizhai Zhang;Pengcheng Wang;J. Yi;Dezhen Song;Tao Liu
介绍了自主式自行车机器人陀螺仪平衡控制的研究进展。bikebot是一种带有陀螺平衡器的主动控制自行车机器人平台，旨在通过不稳定的人机物理交互来研究人类动态姿势平衡运动技能。我们还提出了固定式自行车机器人的动力学模型和分析。设计了一种非线性平衡控制器，使欠驱动的静止式自行车机器人在不稳定平衡点周围的轨道上保持稳定，该平衡点与被驱动的陀螺平衡器的另一个轨道耦合。然后，我们通过实验验证来演示分析和控制设计。最后，我们展示了一组人类骑行实验，以展示如何使用bikebot来干扰和激发人类感觉运动反馈回路，以获得动态姿势平衡运动技能。
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 to stabilize the underactuated stationary bikebot on an orbital trajectory around the unstable equilibrium point that is coupled with another orbit of the actuated gyro-balancer. We then demonstrate the analysis and control design with experimental validations. Finally, we present a set of human riding experiments to show how the bikebot can be used to perturb and excite human sensorimotor feedback loop for dynamic postural balance motor skills.