Journal of Beijing University of Posts and Telecommunications

  • EI核心期刊

JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM ›› 2011, Vol. 34 ›› Issue (6): 99-102.doi: 10.13190/jbupt.201106.99.guol

• Reports • Previous Articles     Next Articles

Kinemics Analysis for a Kind of Bicycle Robot

  

  • Received:2011-01-12 Revised:2011-03-10 Online:2011-12-28 Published:2011-10-18
  • Contact: Lei GUO E-mail:guolei@bupt.edu.cn

Abstract:

The kinemics analysis of a kind of bicycle robot is presented in the paper. And the function relationship among robot rolling angle, drive speed and steering angle could be expressed with a three-dimensional surface in an X-Y-Z coordinate. The lower bound of the drive speed which is needed to balance the robot is presented theoretically. The goal of balancing the robot could be achieved by the means of tuning the steering angle in condition of the drive speed is higher than the critical value. The computer simulation results show that the drive speed belongs to the interval which has the critical value as the lower bound when the robot has different rolling angle and steering angle. Computer simulation verified the validity of the kinemics model. The real bicycle robot control experiments were performed based on the kinemics analysis. It is found that the theoretical result is consistent with the experiment data by comparing them. Then the validity of the kinemics analysis is testified by experiments.

CLC Number: