Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm

Session WedGT9 Fenix 1 Wednesday, October 10, 2012, 17:30–18:30
Control of Wheeled Robots II
Chair Franz Dietrich, Tech. Univ. Braunschweig
Co-Chair
17:30–17:45 WedGT9.1
A Novel Approach For Steeringwheel
Synchronization With Velocity/Acceleration
Limits And Mechanical Constraints
Ulrich Schwesinger, Cédric Pradalier and Roland Siegwart
Autonomous Systems Lab, ETH Zurich, Switzerland
• An algorithm for steeringwheel
synchronization of over-actuated pseudoomnidirectional
rovers is presented.
• Constraints on velocity and acceleration of
the steering units are taken into account.
• The constraints are satisfied via a
compliant control of the instantaneous
center of rotation.
• The performance of the synchronization
algorithm is evaluated on a breadboard for
the ExoMars mission.
ExoMars rover - phase B1
concept, source: ESA/Cluster
18:00–18:15 WedGT9.3
Disturbance Compensation in Pushing, Pulling,
and Lifting for Load Transporting Control of a
Wheeled Inverted Pendulum Type Assistant
Robot Using The Extended State Observer
Luis Canete and Takayuki Takahashi
Graduate School of Symbiotic Systems Science,
Fukushima University, Japan
• The system is an Inverted
PENdulum Type Assistant Robot
(I-PENTAR).
• The system is designed to use its
balance to apply large torques and
forces.
• Uses the Extended State Observer
to compensate for disturbances
during performance of tasks.
• Tests for impulse and step
disturbances were applied to test
the system robustness.
• The robot is able to push and pull
14kg loads up a ramp and lift up to
7.5kg loads.
I-PENTAR and the proposed
pushing/pulling and lifting tasks
17:45–18:00 WedGT9.2
Wheeled Inverted-Pendulum-Type Personal Mobility Robot
with Collaborative Control of Seat Slider and Leg Wheels
Nobuyasu Tomokuni
Department of Intelligent Mechanical Engineering,
Faculty of Engineering, Kinki University, Japan.
Motoki Shino
Department of Mechanical Engineering, The University of Tokyo, Japan.
• This paper describes a motion control that
realizes more stability and comfortability
for a personal mobility robot (PMR).
• The PMR has a unique mechanism that
consists of two independent leg wheels
and a seat slider for inverted pendulum
type mobility.
• This mechanical features can achive more
compactness and capacity to support both
indoor and outdoor mobilities.
• We propose whole body collaborative
controler based on the linear-quadratic
regulator from a three-dimensional
kinematics model of the PMR.
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
–191–
Personal mobility robot (PMR)
18:15–18:30 WedGT9.4
A 3D Dynamic Model of a Spherical Wheeled
Self-Balancing Robot
Ali Nail İnal and Ömer Morgül
Dept. of Electrical & Electronics Eng., Bilkent University, Turkey
Uluç Saranlı
Dept. of Computer Eng., Middle East Technical University, Turkey
• A new coupled 3D Ballbot model capable
of capturing significant yaw rotations is
introduced
• Equations of motion for the new model are
derived, incorporating Ballbot specific
constraints
• New inverse-dynamics controllers for
accurately controlling attitude variables are
investigated in simulation
• Relations between circular motions in
attitude variables and associated motions
in positional variables is investigated,
exposing increased expressivity of the
new model.
The coupled 3D Ballbot model