Trajectory tracking and balance control of an autonomous bikebot

Pengcheng Wang, Jingang Yi, Tao Liu, Yizhai Zhang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

We present trajectory tracking and balance control of an autonomous bikebot. The bikebot is a single-track autonomous mobile robot that is designed to study unstable physical human-robot interactions. The controller is built on the property of the external-internal convertible (EIC) structure for the bikebot dynamics. We present two types of the designs and analyses of the control systems and also demonstrate their performance through extensive experiments. The comparison results with the human riding experiments show that the rider's motor skills generate the similar strategies as the proposed EIC-based balance control.

Original languageEnglish (US)
Title of host publicationICRA 2017 - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2414-2419
Number of pages6
ISBN (Electronic)9781509046331
DOIs
StatePublished - Jul 21 2017
Event2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore
Duration: May 29 2017Jun 3 2017

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation

Other

Other2017 IEEE International Conference on Robotics and Automation, ICRA 2017
CountrySingapore
CitySingapore
Period5/29/176/3/17

Fingerprint

Trajectories
Human robot interaction
Mobile robots
Experiments
Control systems
Controllers

All Science Journal Classification (ASJC) codes

  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Control and Systems Engineering

Cite this

Wang, P., Yi, J., Liu, T., & Zhang, Y. (2017). Trajectory tracking and balance control of an autonomous bikebot. In ICRA 2017 - IEEE International Conference on Robotics and Automation (pp. 2414-2419). [7989280] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2017.7989280
Wang, Pengcheng ; Yi, Jingang ; Liu, Tao ; Zhang, Yizhai. / Trajectory tracking and balance control of an autonomous bikebot. ICRA 2017 - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 2414-2419 (Proceedings - IEEE International Conference on Robotics and Automation).
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Wang, P, Yi, J, Liu, T & Zhang, Y 2017, Trajectory tracking and balance control of an autonomous bikebot. in ICRA 2017 - IEEE International Conference on Robotics and Automation., 7989280, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 2414-2419, 2017 IEEE International Conference on Robotics and Automation, ICRA 2017, Singapore, Singapore, 5/29/17. https://doi.org/10.1109/ICRA.2017.7989280

Trajectory tracking and balance control of an autonomous bikebot. / Wang, Pengcheng; Yi, Jingang; Liu, Tao; Zhang, Yizhai.

ICRA 2017 - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2017. p. 2414-2419 7989280 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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AB - We present trajectory tracking and balance control of an autonomous bikebot. The bikebot is a single-track autonomous mobile robot that is designed to study unstable physical human-robot interactions. The controller is built on the property of the external-internal convertible (EIC) structure for the bikebot dynamics. We present two types of the designs and analyses of the control systems and also demonstrate their performance through extensive experiments. The comparison results with the human riding experiments show that the rider's motor skills generate the similar strategies as the proposed EIC-based balance control.

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Wang P, Yi J, Liu T, Zhang Y. Trajectory tracking and balance control of an autonomous bikebot. In ICRA 2017 - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc. 2017. p. 2414-2419. 7989280. (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2017.7989280