Stationary Balance Control of a Bikebot
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© 2014 IEEE. We present the development of the gyroscopic-balanced control of an autonomous bikebot. The bikebot is an actively controlled bicycle-based robotic platform with a gyro-balancer developed to study human dynamic postural balance motor skills through unstable physical human-robot interactions. We also present a dynamic model and analysis for stationary bikebot. A nonlinear balancing controller is designed to stabilize the underactuated stationary bikebot on an orbital trajectory around the unstable equilibrium point that is coupled with another orbit of the actuated gyro-balancer. We then demonstrate the analysis and control design with experimental validations. Finally, we present a set of human riding experiments to show how the bikebot can be used to perturb and excite human sensorimotor feedback loop for dynamic postural balance motor skills.
author list (cited authors)
Zhang, Y., Wang, P., Yi, J., Song, D., & Liu, T.