Modeling Dynamics and Exploring Control of a Single-Wheeled Dynamically Stable Mobile Robot with Arms
Abstract
This paper focuses on simulations of a dynamically stable mobile robot (Ballbot) with arms. The simulations are of Ballbot lifting its arms in various directions. A PD arm controller works independently of an LQR-designed balancing/station keeping controller. The PD controller drives the arms to follow desired trajectories. when the arms are raised, Ballbot assumes a leaning equilibrium (the physical equilibrium) as opposed to the standing equilibrium (body stands totally upright - a predefined desired equilibrium) that the LQR drives toward. The conflict - between these two equilibria causes the robot to lose its balance when lifting heavy (10 kg) loads. A unified arm and station keeping/balancing controller is also described. The unified controller outperforms the independent controllers in some cases. Balancing only using arms and driving body movement with arms are briefly explored.
Document Details
- Document Type
- Technical Report
- Publication Date
- Aug 31, 2006
- Accession Number
- ADA462904
Entities
People
- Eric M. Schearer
Organizations
- Carnegie Mellon University