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Stable control of the bicycle robot on a curved path by using a reaction wheel

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Abstract

A new velocity and balance control algorithm for the RWBR (Reaction wheel bicycle robot) has been proposed in this paper. A reaction wheel is adopted to maintain a balance while the RWBR is driving, which allows the process of controlling the speed to be achieved concurrently with the one of controlling the balance. To control the speed of the bicycle robot, a PID control algorithm with the adjustment of variable gains is developed in this study, where the gains are heuristically adjusted during each experiment. For the control of the balance and stability, a roll controller is designed by using the model-based algorithm to provide the shortest possible cycle for the bicycle controller. The roll angle is measured to maintain the desired acceleration which generates the reaction force to keep the total force acting on the bicycle robot inside the friction cone. The desired roll acceleration is decided for the bicycle robot in order to prevent it from falling down to the floor with the minimum usage of the reaction wheel rotation. For the general driving of the bicycle robot such as the S-curved driving, the dynamic forces of centrifugal, gravity and steering change are modeled and the friction on the floor has been estimated. The performance of the designed control system is verified through the real experiments with the developed RWBR.

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Authors and Affiliations

  1. School of Electrical and Computer Engineering, Pusan National University, Busan, 609-735, Korea

    Yunki Kim & Jangmyung Lee

  2. ICT Convergence Technology Team, Research Institute of Medium & Small Shipbuilding, Busan, 618-270, Korea

    Hyunwoo Kim

Authors
  1. Yunki Kim
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  2. Hyunwoo Kim
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  3. Jangmyung Lee
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Corresponding author

Correspondence to Jangmyung Lee.

Additional information

Recommended by Senior Editor Jong Hyeon Park

Yun K. Kim received his M.S. degree in Electrical Engineering from the Pusan National University, Republic of Korea in 2013. He is currently doing a Ph.D. course in Electrical and Computer Engineering from the Pusan National University, Republic of Korea. His research interests include Biped robot control, Intelligent Control, Navigation & Localization, SLAM and Haptics.

Hyun W. Kim received his M.S. degree in Electrical Engineering from the Pusan National University, Republic of Korea in 2013. He is currently doing a Ph.D. course in Electrical and Computer Engineering from the Pusan National University, Republic of Korea. His research interests include Intelligent Control, Navigation & Localization and SLAM.

Jang M. Lee received the B.S. and M.S. degrees in electronic engineering from Seoul National University, Seoul, Korea, in 1980 and 1982, respectively, and the Ph.D. degree in computer engineering from the University of Southern California, Los Angeles, CA, USA, in 1990. Since 1992, he has been a Professor with Pusan National University, Busan, Korea, where he was the Leader of the Brain Korea 21 Project. His research interests include intelligent robotics, advanced control algorithm, and specialized environment navigation/localization. Dr. Lee was the former President of the Korean Robotics Society. He is a Member of the Industrial Electronics Society.

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Kim, Y., Kim, H. & Lee, J. Stable control of the bicycle robot on a curved path by using a reaction wheel. J Mech Sci Technol 29, 2219–2226 (2015). https://doi.org/10.1007/s12206-015-0442-1

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  • DOI: https://doi.org/10.1007/s12206-015-0442-1

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