Stationary Balance Control of a Bikebot Conference Paper

abstract

• 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.

name of conference

• 2014 IEEE International Conference on Robotics and Automation (ICRA)

authors

• Song, Dezhen

published proceedings

• 2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)

author list (cited authors)

• Zhang, Y., Wang, P., Yi, J., Song, D., & Liu, T.

citation count

• 23

complete list of authors

• Zhang, Yizhai||Wang, Pengcheng||Yi, Jingang||Song, Dezhen||Liu, Tao

publication date

• January 2014

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

published in

• IEEE International Conference on Robotics and Automation  Journal

Digital Object Identifier (DOI)

• 10.1109/icra.2014.6907849

start page

• 6706

end page

• 6711

URL

• http://dx.doi.org/10.1109/icra.2014.6907849