Control and realization for the rectilinear motion of a front-wheel drive bicycle robot

doi:10.13190/jbupt.201203.65.huangyh

JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM ›› 2012, Vol. 35 ›› Issue (3): 65-69.doi: 10.13190/jbupt.201203.65.huangyh

• Papers • Previous Articles Next Articles

Control and realization for the rectilinear motion of a front-wheel drive bicycle robot

HUANG Yong-hua，LIAO Qi-zheng，WEI Shi-min，GUO Lei

School of Automation， Beijing University of Posts and Telecommunications， Beijing 100876， China

Received:2011-09-13 Revised:2011-10-31 Online:2012-06-28 Published:2012-02-29
Contact: Huang Yonghua E-mail:huangyonghuaxj@sohu.com

Abstract

Abstract:

Dynamic model for a front-wheel drive bicycle robot free from regulator weight was presented and balanced controller for rectilinear motion was investigated. By analyzing the turning radius of the robot, kinetic energy were derived with the driving angle velocities of front-wheel and front bar, and then the dynamic model was established based on Lagrange formulation. The balance controller for rectilinear motion was constructed by linearizing front-wheel and front-bar input angle and considering the under-actuated frame rolling angle as the internal dynamics. Simulation result shows the effectiveness of the proposed controller. Physical experiment result further verifies that the proposed controller can realize rectilinear motion with reasonable driving torque.

Key words: bicycle robot, front-wheel drive, rectilinear motion, balance control

CLC Number:

TP24

References

[1] Yabin Y. The derivation of a kinematic model from the dynamic model of the motion of a riderless bicycle[J]. Computers and Mathematics with Applications, 2006, 51(6-7): 865-878.
[2] Okawa A, Keo L, Yamakita M. Realization of acrobatic turn via wheelie for a bicycle with a balancer// 2009 IEEE International Conference on Robotics and Automation. Kobe: IEEE Press, 2009: 12-17.
[3] Keo L, Yamakita M. Control of an autonomous electric bicycle with both steering and balancer controls[J]. Advanced Robotics, 2011, 25(1-2):1-22.
[4] Liu Yanbin, Jia Chenhui, Han Jianhai. Dynamics mo-deling of an unmanned bicycle with parallel mechanism adjusting stability// Proceedings of the 2009 IEEE International Conference on Mechatronics and Automation. Changchun: IEEE Press, 2009: 1601-1605.
[5] Getz N H, Marsden J E. Control for an autonomous bicycle// IEEE International Conference on Robotics and Automation. Nagoya: IEEE Press, 1995:1-6.
[6] Tanaka Y, Murakami T. Self sustaining bicycle robot with steering controller// The 8^th IEEE International Workshop on Advanced Motion Control. Kawasaki: IEEE Press, 2004: 193-197.
[7] Sharma H D, Umashankar N. A robotic model (ROBI) of autonomous bicycle system// International Conference on Computational Intelligence for Modelling, Control and Automation. Sydney: , 2006: 107-109.
[8] Saguchi T, Takahashi M, Yoshida K. Stable running control of autonomous bicycle robot for trajectory tracking considering the running velocity[J]. Transactions of the Japan Society of Mechanical Engineers(Part C), 2009, 75: 397-403.
[9] Zhang Y Z, Yi J G. Dynamic modeling and balance control of human/bicycle systems// 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Montreal: IEEE Press, 2010: 1385-1390.
[10] 刘延柱. 自行车的受控运动[J]. 力学与实践, 1995, 17(4): 39-42. Liu Yanzhu. Bicycle controlled movement[J]. Mechanics and Practice, 1995, 17(4): 39-42.
[11] 郭磊, 廖启征, 魏世民. 自行车机器人动力学建模与MIMO反馈线性化[J]. 北京邮电大学学报, 2007, 30(1): 80-84. Guo Lei, Liao Qizheng, Wei Shimin. Dynamic modeling of bicycle robot and nonlinear control based on feedback linearization of MIMO systems[J]. Journal of Beijing University of Posts and Telecommunications, 2007, 30(1): 80-84.
[12] Isidori A. Nonlinear control systems[M]. Berlin: Springer-Verlag, 1992.

Control and realization for the rectilinear motion of a front-wheel drive bicycle robot

PDF

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 2

Recommended Articles

Metrics

Comments

[1]	. Modeling and Realization of Track Stand Motion for a Bicycle Robot with Front Wheel Drive [J]. JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM, 2012, 35(2): 5-9.
[2]	GUO Lei, LIAO Qi-zheng, WEI Shi-min. Dynamic Modeling of Bicycle Robot and Nonlinear Control Based on Feedback Linearization of MIMO Systems [J]. JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM, 2007, 30(1): 80-84.