脚の補助インパルス駆動を用いた障害物横断のための自律バイクボット制御
Autonomous Bikebot Control for Crossing Obstacles with Assistive Leg Impulsive Actuation
脚による補助的なインパルス駆動を組み合わせ、段差状の障害物を安定して乗り越える自律バイクボットの制御手法を提案し、実験で有効性を示した論文。
著者: Feng Han, Xinyan Huang, Zenghao Wang, Jingang Yi, Tao Liu
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
As a single-track mobile platform, bikebot (i.e., bicycle-based robot) has attractive navigation capability to pass through narrow, off-road terrain with high-speed and high-energy efficiency. However, running crossing step-like obstacles creates challenges for intrinsically unstable, underactuated bikebots. This paper presents a novel autonomous bikebot control with assistive leg actuation to navigate crossing obstacles. The proposed design integrates the external/internal convertible-based control with leg-assisted impulse control. The leg-terrain interaction generates assistive impulsive torques to help maintain the navigation and balance capability when running across obstacles. The control performance is analyzed and guaranteed. The experimental results confirm that under the control design, the bikebot can smoothly run crossing multiple step-like obstacles with height more than one third of the wheel radius. The comparison results demonstrate the superior performance than those under only the velocity and steering control without leg assistive impulsive actuation.
