Robust stabilization of running self-sustaining two-wheeled vehicle

金沢大学理工研究域電子情報学系This paper deals with robust stabilization of running self-sustaining two-wheeled vehicle. Recently, some researches about stabilization of two-wheeled vehicle have been reported. These researches have achieved the stabilization running only by the steering control. However, an actual two-wheeled vehicle is running while accompanying stabilization by the rider. We have proposed the stabilization of two-wheeled vehicle in the state of stillness, and have shown the effectiveness. In this research, we compose the control system that aims at the running stabilization of two-wheeled vehicle. We use ℋ∞ mixed sensitivity problem to design the controller to achieve stability running even if the mass of two-wheeled vehicle changes. The experimental results show stability running even if the mass of two-wheeled vehicle changed. © 2007 IEEE

Rover and Telerobotics Technology Program

The Jet Propulsion Laboratory's (JPL's) Rover and Telerobotics Technology Program, sponsored by the National Aeronautics and Space Administration (NASA), responds to opportunities presented by NASA space missions and systems, and seeds commerical applications of the emerging robotics technology. The scope of the JPL Rover and Telerobotics Technology Program comprises three major segments of activity: NASA robotic systems for planetary exploration, robotic technology and terrestrial spin-offs, and technology for non-NASA sponsors. Significant technical achievements have been reached in each of these areas, including complete telerobotic system prototypes that have built and tested in realistic scenarios relevant to prospective users. In addition, the program has conducted complementary basic research and created innovative technology and terrestrial applications, as well as enabled a variety of commercial spin-offs

Master of Science

thesisThis thesis focuses on the design, modeling, fabrication, and testing of a ?ying and walking robot, called the Dynamic Underactuated Flying-Walking (DUCK) robot. The DUCK robot combines a high-mobility ?ying platform, such as a quadcopter (quadrotor helicopter), with passive-dynamic legs to create a versatile system that can ?y and walk. One of the advantages of using passive-dynamic legs for walking is that additional actuators are not needed for terrestrial locomotion, therefore simplifying the design, reducing overall weight, and decreasing power consumption. First, a mathematical model is developed for the DUCK robot, where the modeling combines the passive-dynamic walking mechanism with the swinging mass of the aerial platform. Second, simulations based on the model are used to help guide the design of two prototype robots, speci?cally to tailor the shape of the feet and the dimensions of the passive-dynamic walking mechanism. Third, an energy analysis is performed to compare the performances between ?ying and walking. More specifically, simulation results show that continuous active walking has a comparable energy efficiency to that of flying for the two prototype designs. For design Version 1, it is estimated that the robot is able to walk up to 1600 meters on a 30kJ battery (standard Li-Po battery) with a cost of transport of 1.0, while the robot can potentially fly up to 1800 meters horizontally with the weight of its legs and up to 2300 meters without the weight of its legs. Design Version 2 is estimated to be able to walk up to 4600 meters on a 30kJ battery with a cost of transport of .50, while it could fly up to 2600 meters with the weight of its legs or 4300 meters without its legs. The cost of transport of flying is estimated to be .89 in all scenarios. Finally, experimental results demonstrate the feasibility of combining an aerial platform with passive-dynamic legs to create an effective flying and walking robot. Two modes of walking are experimentally demonstrated: (1) passive walking down inclined surfaces for low-energy terrestrial locomotion and (2) active (powered) walking leveraging the capabilities of the flying platform, where thrust from the quadcopter's rotors enables the DUCK robot to walk on flat surfaces or up inclined surfaces

Design and Development of a Self-Balancing Bicycle Using Control Moment Gyro

Master'sMASTER OF ENGINEERIN

Climbing and Walking Robots

Nowadays robotics is one of the most dynamic fields of scientific researches. The shift of robotics researches from manufacturing to services applications is clear. During the last decades interest in studying climbing and walking robots has been increased. This increasing interest has been in many areas that most important ones of them are: mechanics, electronics, medical engineering, cybernetics, controls, and computers. Today’s climbing and walking robots are a combination of manipulative, perceptive, communicative, and cognitive abilities and they are capable of performing many tasks in industrial and non- industrial environments. Surveillance, planetary exploration, emergence rescue operations, reconnaissance, petrochemical applications, construction, entertainment, personal services, intervention in severe environments, transportation, medical and etc are some applications from a very diverse application fields of climbing and walking robots. By great progress in this area of robotics it is anticipated that next generation climbing and walking robots will enhance lives and will change the way the human works, thinks and makes decisions. This book presents the state of the art achievments, recent developments, applications and future challenges of climbing and walking robots. These are presented in 24 chapters by authors throughtot the world The book serves as a reference especially for the researchers who are interested in mobile robots. It also is useful for industrial engineers and graduate students in advanced study

Advanced Mobile Robotics: Volume 3

Mobile robotics is a challenging field with great potential. It covers disciplines including electrical engineering, mechanical engineering, computer science, cognitive science, and social science. It is essential to the design of automated robots, in combination with artificial intelligence, vision, and sensor technologies. Mobile robots are widely used for surveillance, guidance, transportation and entertainment tasks, as well as medical applications. This Special Issue intends to concentrate on recent developments concerning mobile robots and the research surrounding them to enhance studies on the fundamental problems observed in the robots. Various multidisciplinary approaches and integrative contributions including navigation, learning and adaptation, networked system, biologically inspired robots and cognitive methods are welcome contributions to this Special Issue, both from a research and an application perspective