A Bipedal Wheel-Legged Robot with Improved Balancing and Disturbance Rejection Capability Assisted by Electrical-Jets

Zhao, Yuntian1,2; Lin, Shiyuan1,2; Zhu, Zheng1,2; Jia, Zhenzhong1,2

10.1109/ICARM54641.2022.9959429

2022

7th IEEE International Conference on Advanced Robotics and Mechatronics

978-1-6654-8307-0

2022 INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM 2022)

737-742

JUL 09-11, 2022

null,Guilin,PEOPLES R CHINA

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

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.

Resistance Mechatronics Propellers Prototypes Tail Flywheels Manufacturing

通讯

英语

CPCI-S

Science, Technology and Innovation Commission of Shenzhen Municipality[ZDSYS0200811143601004]

Automation & Control Systems ; Engineering ; Robotics

Automation & Control Systems ; Engineering, Electrical & Electronic ; Robotics

WOS:000926398000120

Web of Science

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

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.