A novel gait planning method using geodesics for humanoid robot is given in this paper. Both center of gravity (COG) and the exact Single Support Phase (SSP) are studied in our energy optimal gait planning based on geodesics. The kinetic energy of a 2-dimensional inverted pendulum is obtained at first. We regard the kinetic energy as the Riemannian metric and the geodesic on this metric is studied and this is the shortest line between two points on the Riemannian surface. This geodesic is the optimal kinetic energy gait for the COG because the kinetic energy along geodesic is invariant according to the geometric property of geodesics and the walking is stable and no impact. Then the walking in Single Support Phase is studied and the energy optimal gait for the swing leg is obtained using our geodesics method. Finally, experiments using traditional joint angles interpolating method and using our geodesics optimization method are carried out respectively and the corresponding currents of the joint motors are recorded. With the currents comparing results, the feasibility of this new gait planning method is verified.
{"title":"Optimal energy gait planning for humanoid robot using geodesics","authors":"Liandong Zhang, Changjiu Zhou, Peijie Zhang, Zhiwei Song, Yue Pik Kong, Xinyu Han","doi":"10.1109/RAMECH.2010.5513185","DOIUrl":"https://doi.org/10.1109/RAMECH.2010.5513185","url":null,"abstract":"A novel gait planning method using geodesics for humanoid robot is given in this paper. Both center of gravity (COG) and the exact Single Support Phase (SSP) are studied in our energy optimal gait planning based on geodesics. The kinetic energy of a 2-dimensional inverted pendulum is obtained at first. We regard the kinetic energy as the Riemannian metric and the geodesic on this metric is studied and this is the shortest line between two points on the Riemannian surface. This geodesic is the optimal kinetic energy gait for the COG because the kinetic energy along geodesic is invariant according to the geometric property of geodesics and the walking is stable and no impact. Then the walking in Single Support Phase is studied and the energy optimal gait for the swing leg is obtained using our geodesics method. Finally, experiments using traditional joint angles interpolating method and using our geodesics optimization method are carried out respectively and the corresponding currents of the joint motors are recorded. With the currents comparing results, the feasibility of this new gait planning method is verified.","PeriodicalId":140862,"journal":{"name":"2010 IEEE Conference on Robotics, Automation and Mechatronics","volume":"185 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116144346","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-28DOI: 10.1109/RAMECH.2010.5513173
Guojian Liu, Yunhua Li, Liman Yang
This paper deals with the establishment of the exact mathematical model for describing the electro-hydraulic load system which is applied to the earth-experiment of the hydromechanical servomechanism (hydraulic assistor) for the helicopter pitch adjusting. Based on the working principle analysis of the electro-hydraulic load system, the accurate mathematical model of electric-hydraulic loading system is established and the influence of the model on the system characteristics is deeply analyzed. It is proved that surplus force is concerned with not only the velocity but also the acceleration of rudderpost. Moreover, the traditional structure invariance principle is improved. Experiments in the paper validate the correctness of complex mathematical model, of which the guiding effect in eliminating the extraneous force is revealed also.
{"title":"Accurate mathematical model for describing electrohydraulic loading system of helicopter pitch adjusting hydromechanical servos","authors":"Guojian Liu, Yunhua Li, Liman Yang","doi":"10.1109/RAMECH.2010.5513173","DOIUrl":"https://doi.org/10.1109/RAMECH.2010.5513173","url":null,"abstract":"This paper deals with the establishment of the exact mathematical model for describing the electro-hydraulic load system which is applied to the earth-experiment of the hydromechanical servomechanism (hydraulic assistor) for the helicopter pitch adjusting. Based on the working principle analysis of the electro-hydraulic load system, the accurate mathematical model of electric-hydraulic loading system is established and the influence of the model on the system characteristics is deeply analyzed. It is proved that surplus force is concerned with not only the velocity but also the acceleration of rudderpost. Moreover, the traditional structure invariance principle is improved. Experiments in the paper validate the correctness of complex mathematical model, of which the guiding effect in eliminating the extraneous force is revealed also.","PeriodicalId":140862,"journal":{"name":"2010 IEEE Conference on Robotics, Automation and Mechatronics","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117334227","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-28DOI: 10.1109/RAMECH.2010.5513218
Shusong Xing, Zhang Xia
The key point of post-stroke rehabilitation is that exercices and therapy must begin as soon as possible after stroke in order to let the survivors regain their body movement functions. By playing the EMG-driven computer game, the patients can locate disused body parts and start training their muscles even when they have to stay on beds during the early stage of rehabilitation. Wearable EMG nodes for post-stoke rehabilitation are made in affordable price and a toy robot controlled by the computer game is used to communicate with the people.
{"title":"EMG-driven computer game for post-stroke rehabilitation","authors":"Shusong Xing, Zhang Xia","doi":"10.1109/RAMECH.2010.5513218","DOIUrl":"https://doi.org/10.1109/RAMECH.2010.5513218","url":null,"abstract":"The key point of post-stroke rehabilitation is that exercices and therapy must begin as soon as possible after stroke in order to let the survivors regain their body movement functions. By playing the EMG-driven computer game, the patients can locate disused body parts and start training their muscles even when they have to stay on beds during the early stage of rehabilitation. Wearable EMG nodes for post-stoke rehabilitation are made in affordable price and a toy robot controlled by the computer game is used to communicate with the people.","PeriodicalId":140862,"journal":{"name":"2010 IEEE Conference on Robotics, Automation and Mechatronics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129715292","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-28DOI: 10.1109/RAMECH.2010.5513164
Jiayun Wu, K. Lim, Chengxin Xiao
The main challenge for occlusion problem is that features from different objects tend to interact and cause recognition failures for traditional object recognition algorithms where even matched feature points do not necessarily lead to successful recognitions. Feature interactions may be the key to recognize occluded objects. In this paper, we propose a framework to integrate local feature interactions in terms of color, texture and geometry into spectral matching. Appearance similarity will serve as a prior to compensate the sensitivity of spectral matching towards noisy data caused by occlusions. Accordingly incorrect correspondences can be discarded by remaining the geometrical consistency in the formed affinity matrix. Because of our informative similarity matrix, objects under severe occlusions can still be recognized and matching errors dramatically reduced in recognizing both 2D and 3D occluded objects.
{"title":"Recognition of occluded objects by feature interactions","authors":"Jiayun Wu, K. Lim, Chengxin Xiao","doi":"10.1109/RAMECH.2010.5513164","DOIUrl":"https://doi.org/10.1109/RAMECH.2010.5513164","url":null,"abstract":"The main challenge for occlusion problem is that features from different objects tend to interact and cause recognition failures for traditional object recognition algorithms where even matched feature points do not necessarily lead to successful recognitions. Feature interactions may be the key to recognize occluded objects. In this paper, we propose a framework to integrate local feature interactions in terms of color, texture and geometry into spectral matching. Appearance similarity will serve as a prior to compensate the sensitivity of spectral matching towards noisy data caused by occlusions. Accordingly incorrect correspondences can be discarded by remaining the geometrical consistency in the formed affinity matrix. Because of our informative similarity matrix, objects under severe occlusions can still be recognized and matching errors dramatically reduced in recognizing both 2D and 3D occluded objects.","PeriodicalId":140862,"journal":{"name":"2010 IEEE Conference on Robotics, Automation and Mechatronics","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128648003","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-28DOI: 10.1109/RAMECH.2010.5513152
A. Albers, S. Trautmann, T. Howard, Trong Anh Nguyen, M. Frietsch, C. Sauter
This contribution presents the first results of the development of an unmanned aerial vehicle (UAV) which is capable of applying force to a wall while maintaining flight stability. This is a novel idea since UAVs are used so far only for tasks without physical contact to the surrounding objects. The basis for the work presented is a quadrotor system which is stabilized with an inertial measurement unit. As a new approach an additional actuator was added to generate forces in physical contact while the UAV stays horizontal. A control architecture based on ultrasonic distance sensors and a CMOS-camera is proposed. The performance of the system was proved by several flight tests. Potential applications of the system can be physical tasks at high places like cleaning windows or walls as well as rescue or maintenance tasks.
{"title":"Semi-autonomous flying robot for physical interaction with environment","authors":"A. Albers, S. Trautmann, T. Howard, Trong Anh Nguyen, M. Frietsch, C. Sauter","doi":"10.1109/RAMECH.2010.5513152","DOIUrl":"https://doi.org/10.1109/RAMECH.2010.5513152","url":null,"abstract":"This contribution presents the first results of the development of an unmanned aerial vehicle (UAV) which is capable of applying force to a wall while maintaining flight stability. This is a novel idea since UAVs are used so far only for tasks without physical contact to the surrounding objects. The basis for the work presented is a quadrotor system which is stabilized with an inertial measurement unit. As a new approach an additional actuator was added to generate forces in physical contact while the UAV stays horizontal. A control architecture based on ultrasonic distance sensors and a CMOS-camera is proposed. The performance of the system was proved by several flight tests. Potential applications of the system can be physical tasks at high places like cleaning windows or walls as well as rescue or maintenance tasks.","PeriodicalId":140862,"journal":{"name":"2010 IEEE Conference on Robotics, Automation and Mechatronics","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124962160","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-28DOI: 10.1109/RAMECH.2010.5513126
S. Sehestedt, S. Kodagoda, G. Dissanayake
Human robot interaction has attracted significant attention over the last couple of years. An important aspect of such robotic systems is to share the working space with humans and carry out the tasks in a socially acceptable way. In this paper, we address the problem of fusing socially acceptable behaviours into robot path planning. By observing an environment for a while, the robot learns human motion patterns based on sampled Hidden Markov Models and utilises them in a Probabilistic Roadmap based path planning algorithm. This will minimise the social distractions, such as going through someone else's working space (due to the shortest path), by planning the path through minimal distractions, leading to human-like behaviours. The algorithm is implemented in Orca/C++ with appealing results in real world experiments.
{"title":"Robot path planning in a social context","authors":"S. Sehestedt, S. Kodagoda, G. Dissanayake","doi":"10.1109/RAMECH.2010.5513126","DOIUrl":"https://doi.org/10.1109/RAMECH.2010.5513126","url":null,"abstract":"Human robot interaction has attracted significant attention over the last couple of years. An important aspect of such robotic systems is to share the working space with humans and carry out the tasks in a socially acceptable way. In this paper, we address the problem of fusing socially acceptable behaviours into robot path planning. By observing an environment for a while, the robot learns human motion patterns based on sampled Hidden Markov Models and utilises them in a Probabilistic Roadmap based path planning algorithm. This will minimise the social distractions, such as going through someone else's working space (due to the shortest path), by planning the path through minimal distractions, leading to human-like behaviours. The algorithm is implemented in Orca/C++ with appealing results in real world experiments.","PeriodicalId":140862,"journal":{"name":"2010 IEEE Conference on Robotics, Automation and Mechatronics","volume":"102 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114526204","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-28DOI: 10.1109/RAMECH.2010.5513159
YekHong Chua, ChingSeong Tan, Xin Wang, C. Teoh, G. Seet, A. Sluzek
This paper introduces an auto-tuning range-gated imaging system in turbid medium. The automated gated imaging system is able to auto-tune the best image quality by using the MTF evaluation technique. For a typical gated system, the gated images are recorded into video format in increasing gate opening time, each frame of the video recorded is basically to “slice” the targets at different distance from camera (based on time of light). Each frame would only able to show the targets within the specifically “sliced” target distance, which limits the capability of gated imaging system. Thus, it is necessary to develop auto-tuning system that will overcome the limitation in turbid water condition. In this paper, all enhanced target images within the field of view (FOV) are fused into one 3D image, and this will increase the efficiency of the study and works under turbid medium condition. Works had been done in selecting a quantitative image quality index for automated tuning system so that images with better quality can be detected accurately in turbid conditions. The non-reference measuring index-Modulation Transfer Function (MTF) can perform better in analyzing images under turbid condition thus is selected for this application. Experiment results show that the mid-band spatial frequencies from 21 to 61 demonstrate the degradation of image quality due to the turbid water backscattering noises. Thus, we propose to use MTF in the auto-tuning system to select best quality target from multiple images that scan thru the various gate timing. Subsequently, image fusion is performed to fuse multiple gate opening time images into a 3D extended targets turbid condition.
{"title":"Using MTF for automated gated imaging system in turbid medium","authors":"YekHong Chua, ChingSeong Tan, Xin Wang, C. Teoh, G. Seet, A. Sluzek","doi":"10.1109/RAMECH.2010.5513159","DOIUrl":"https://doi.org/10.1109/RAMECH.2010.5513159","url":null,"abstract":"This paper introduces an auto-tuning range-gated imaging system in turbid medium. The automated gated imaging system is able to auto-tune the best image quality by using the MTF evaluation technique. For a typical gated system, the gated images are recorded into video format in increasing gate opening time, each frame of the video recorded is basically to “slice” the targets at different distance from camera (based on time of light). Each frame would only able to show the targets within the specifically “sliced” target distance, which limits the capability of gated imaging system. Thus, it is necessary to develop auto-tuning system that will overcome the limitation in turbid water condition. In this paper, all enhanced target images within the field of view (FOV) are fused into one 3D image, and this will increase the efficiency of the study and works under turbid medium condition. Works had been done in selecting a quantitative image quality index for automated tuning system so that images with better quality can be detected accurately in turbid conditions. The non-reference measuring index-Modulation Transfer Function (MTF) can perform better in analyzing images under turbid condition thus is selected for this application. Experiment results show that the mid-band spatial frequencies from 21 to 61 demonstrate the degradation of image quality due to the turbid water backscattering noises. Thus, we propose to use MTF in the auto-tuning system to select best quality target from multiple images that scan thru the various gate timing. Subsequently, image fusion is performed to fuse multiple gate opening time images into a 3D extended targets turbid condition.","PeriodicalId":140862,"journal":{"name":"2010 IEEE Conference on Robotics, Automation and Mechatronics","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125617553","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-28DOI: 10.1109/RAMECH.2010.5513215
Chih-Yu Hung, C. Chi
This paper aims at researching the effects of voltage-sag events upon AC electromagnetic contactor (abbreviated as AC contactor) and developing a compensation strategy based on feedback control approach. An AC contactor model is first analyzed when sags event is ensured occurrence as well as a novel voltage compensation strategy is designed for timely offsetting the coil voltage; therefore, the critical equipment in continuous process industries are safely protected and prevents the loss caused by downtime. A dynamic performance evaluation was conducted on governing numerical model of an AC contactor for analyzing the system performance when the proposed compensation strategy is introduced. The simulation results clearly depicted that contactors are critical component as it is unable to ride through 20% sag and longer than 48 milliseconds. The effectiveness and feasibility of the proposed coil voltage compensation strategy during voltage sag events occur is validated by using simulation approach. Moreover, the shading rings have the effect of the contactor's transient performance when voltage sags event occur is studied and discussed as well.
{"title":"A new compensation strategy for an AC contactor under voltage-sag events","authors":"Chih-Yu Hung, C. Chi","doi":"10.1109/RAMECH.2010.5513215","DOIUrl":"https://doi.org/10.1109/RAMECH.2010.5513215","url":null,"abstract":"This paper aims at researching the effects of voltage-sag events upon AC electromagnetic contactor (abbreviated as AC contactor) and developing a compensation strategy based on feedback control approach. An AC contactor model is first analyzed when sags event is ensured occurrence as well as a novel voltage compensation strategy is designed for timely offsetting the coil voltage; therefore, the critical equipment in continuous process industries are safely protected and prevents the loss caused by downtime. A dynamic performance evaluation was conducted on governing numerical model of an AC contactor for analyzing the system performance when the proposed compensation strategy is introduced. The simulation results clearly depicted that contactors are critical component as it is unable to ride through 20% sag and longer than 48 milliseconds. The effectiveness and feasibility of the proposed coil voltage compensation strategy during voltage sag events occur is validated by using simulation approach. Moreover, the shading rings have the effect of the contactor's transient performance when voltage sags event occur is studied and discussed as well.","PeriodicalId":140862,"journal":{"name":"2010 IEEE Conference on Robotics, Automation and Mechatronics","volume":"333 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134207100","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-28DOI: 10.1109/RAMECH.2010.5513129
Thanhtam Ho, Sangyoon Lee
High locomotion speed and energy efficiency are the most attractive characteristics of the jumping gait for small mobile robots. In this paper, the design and simulation of a lightweight jumping robot is described. We propose the use of shape memory alloy (SMA) for actuating the jumping mechanism. We also report that the robot design is inspired by vertebrates' lower musculoskeletal system, in particular the structure of legs and the functions of muscles. SMA wires are used as artificial muscles to realize the jumping motion. A parametric dynamics simulation study is conducted to develop a suitable pattern of muscle activation. The simulation results show that the robot can jump up half of its height and move forward by about 25% of its length.
{"title":"Design of an SMA-actuated jumping robot","authors":"Thanhtam Ho, Sangyoon Lee","doi":"10.1109/RAMECH.2010.5513129","DOIUrl":"https://doi.org/10.1109/RAMECH.2010.5513129","url":null,"abstract":"High locomotion speed and energy efficiency are the most attractive characteristics of the jumping gait for small mobile robots. In this paper, the design and simulation of a lightweight jumping robot is described. We propose the use of shape memory alloy (SMA) for actuating the jumping mechanism. We also report that the robot design is inspired by vertebrates' lower musculoskeletal system, in particular the structure of legs and the functions of muscles. SMA wires are used as artificial muscles to realize the jumping motion. A parametric dynamics simulation study is conducted to develop a suitable pattern of muscle activation. The simulation results show that the robot can jump up half of its height and move forward by about 25% of its length.","PeriodicalId":140862,"journal":{"name":"2010 IEEE Conference on Robotics, Automation and Mechatronics","volume":"203 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133039514","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-28DOI: 10.1109/RAMECH.2010.5513197
Z. Kausar, K. Stol, N. Patel
A Two Wheeled Mobile Robot (TWMR) is a highly nonlinear and open-loop unstable system. Dynamic analysis and control design to keep the body of the robot balanced has been an area of research in the last decade. This problem has been dealt by many researchers for the robot motion on flat surfaces. A few studies have addressed the motion control on constant sloped path. This work studies the control of TWMRs on an uneven surface. With respect to previous results in the literature, the main contributions of this study are the dynamical modeling and control design of a two-wheeled mobile robot while traversing on uneven surface, in particular a single bump. A criterion has been proposed for the system performance evaluation. The system response to a baseline control and proposed Gain Scheduling control is quantified in simulation through proposed criteria. The results show an improvement in system performance on an uneven surface.
{"title":"Performance enhancement of a statically unstable Two Wheeled Mobile Robot traversing on an uneven surface","authors":"Z. Kausar, K. Stol, N. Patel","doi":"10.1109/RAMECH.2010.5513197","DOIUrl":"https://doi.org/10.1109/RAMECH.2010.5513197","url":null,"abstract":"A Two Wheeled Mobile Robot (TWMR) is a highly nonlinear and open-loop unstable system. Dynamic analysis and control design to keep the body of the robot balanced has been an area of research in the last decade. This problem has been dealt by many researchers for the robot motion on flat surfaces. A few studies have addressed the motion control on constant sloped path. This work studies the control of TWMRs on an uneven surface. With respect to previous results in the literature, the main contributions of this study are the dynamical modeling and control design of a two-wheeled mobile robot while traversing on uneven surface, in particular a single bump. A criterion has been proposed for the system performance evaluation. The system response to a baseline control and proposed Gain Scheduling control is quantified in simulation through proposed criteria. The results show an improvement in system performance on an uneven surface.","PeriodicalId":140862,"journal":{"name":"2010 IEEE Conference on Robotics, Automation and Mechatronics","volume":"126 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133489387","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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