| Title | A Bipedal Wheel-Legged Robot with Improved Balancing and Disturbance Rejection Capability Assisted by Electrical-Jets |
| Author | |
| Corresponding Author | Jia, Zhenzhong |
| DOI | |
| Publication Years | 2022
|
| Conference Name | 7th IEEE International Conference on Advanced Robotics and Mechatronics
|
| ISBN | 978-1-6654-8307-0
|
| Source Title | |
| Pages | 737-742
|
| Conference Date | JUL 09-11, 2022
|
| Conference Place | null,Guilin,PEOPLES R CHINA
|
| Publication Place | 345 E 47TH ST, NEW YORK, NY 10017 USA
|
| Publisher | |
| Abstract | This paper proposes an innovative bipedal wheel-legged robot with Electrical-Jet (E-Jet) assistance for improved balancing and disturbance rejection capabilities. Current bipedal wheel-legged robots, which are typical under-actuated systems, lack control authority in terms of external disturbance rejection, thereby threatening its critical balancing functionality. Flywheels can enable robots to control their angular momentum; however, we cannot use batteries or payloads to make flywheels due to stringent manufacturing requirements. Dummy mass designs such as tails may have a similar effect. However, they are difficult to control; the associated control authority is also limited. In comparison, E-Jets or propellers can provide large thrust forces with limited weight. Therefore, we adopt the more compact E-Jets design to assist the bipedal wheel-leg robot to improve its disturbance rejection capability. We propose a simple decoupled design that can fully exploit E-Jet capability, and also develop a neat decoupled control structure to minimize the displacement caused by external disturbances. We perform comparison experiments using high-fidelity simulation to validate the effectiveness and overall performance of our proposed design. |
| Keywords | |
| SUSTech Authorship | Corresponding
|
| Language | English
|
| URL | [Source Record] |
| Indexed By | |
| Funding Project | Science, Technology and Innovation Commission of Shenzhen Municipality[ZDSYS0200811143601004]
|
| WOS Research Area | Automation & Control Systems
; Engineering
; Robotics
|
| WOS Subject | Automation & Control Systems
; Engineering, Electrical & Electronic
; Robotics
|
| WOS Accession No | WOS:000926398000120
|
| Data Source | Web of Science
|
| PDF url | https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9959429 |
| Citation statistics |
Cited Times [WOS]:0
|
| Document Type | Conference paper |
| Identifier | http://kc.sustech.edu.cn/handle/2SGJ60CL/416010 |
| Department | Department of Mechanical and Energy Engineering |
| Affiliation | 1.Shenzhen Key Lab Biomimet Robot & Intelligent Sys, Shenzhen 518055, Peoples R China 2.Southern Univ Sci & Technol SUSTech, Dept Mech & Energy Engn, Guangdong Prov Key Lab Human Augmentat & Rehabil, Shenzhen 518055, Peoples R China |
| First Author Affilication | Department of Mechanical and Energy Engineering |
| Corresponding Author Affilication | Department of Mechanical and Energy Engineering |
| Recommended Citation GB/T 7714 |
Zhao, Yuntian,Lin, Shiyuan,Zhu, Zheng,et al. A Bipedal Wheel-Legged Robot with Improved Balancing and Disturbance Rejection Capability Assisted by Electrical-Jets[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2022:737-742.
|
| Files in This Item: | ||||||
| File Name/Size | DocType | Version | Access | License | ||
| A_Bipedal_Wheel-Legg（5033KB） | Restricted Access | -- | ||||
Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.
Edit Comment