@inproceedings{d0dbc3ba6f8a44d8a51bebfed1a55060,
title = "Trajectory tracking and balance control of an autonomous bikebot",
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.",
author = "Pengcheng Wang and Jingang Yi and Tao Liu and Yizhai Zhang",
note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 IEEE International Conference on Robotics and Automation, ICRA 2017 ; Conference date: 29-05-2017 Through 03-06-2017",
year = "2017",
month = jul,
day = "21",
doi = "10.1109/ICRA.2017.7989280",
language = "American English",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2414--2419",
booktitle = "ICRA 2017 - IEEE International Conference on Robotics and Automation",
address = "United States",
}