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Modeling Dynamics and Exploring Control of a Single-Wheeled Dynamically Stable Mobile Robot with Arms
E. Schearer
master's thesis, tech. report CMU-RI-TR-06-37, Robotics Institute, Carnegie Mellon University, August, 2006.

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This pap er focuses on simulations of a dynamically stable mobile rob ot (Ballb ot) with arms. The simulations are of Ballb ot lifting its arms in various directions. A PD arm controller works indep endently of an LQR-designed balancing/station keeping controller. The PD controller drives the arms to follow desired tra jectories. When the arms are raised, Ballb ot assumes a leaning equilibrium (the physical equilibrium) as opp osed to the standing equilibrium (b ody stands totally upright - a predefined desired equilibrium) that the LQR drives toward. The conflict b etween these two equilibria causes the rob ot to lose its balance when lifting heavy (10 kg) loads. A unified arm and station keeping/balancing controller is also describ ed. The unified controller outp erforms the indep endent controllers in some cases. Balancing only using arms and driving b ody movement with arms are briefly explored.

Associated lab/group: Microdynamic Systems Laboratory
Associated project: Dynamically-Stable Mobile Robots in Human Environments

Number of pages: 56

E. Schearer, Modeling Dynamics and Exploring Control of a Single-Wheeled Dynamically Stable Mobile Robot with Arms, master's thesis, tech. report CMU-RI-TR-06-37, Robotics Institute, Carnegie Mellon University, August, 2006.

@mastersthesis{Schearer_2006_5530,
   author = "Eric Schearer",
   title = "Modeling Dynamics and Exploring Control of a Single-Wheeled Dynamically Stable Mobile Robot with Arms",
   school = "Robotics Institute, Carnegie Mellon University",
   month = "August",
   year = "2006",
   address = "Pittsburgh, PA"
}