@article{ref1,
title="Balanced motions realization for a mechanical regulators free and front-wheel drive bicycle robot under zero forward speed",
journal="Int. J. Adv. Robot. Syst.",
year="2013",
author="Huang, Yonghua and Liao, Qizheng and Guo, Lei and Wei, Shimin",
volume="10",
number="",
pages="e317-e317",
abstract="This paper focuses on a mechanical regulator free and front- wheel drive bicycle robot. We present a scheme to achieve the robot's track-stand motion and circular motion under zero forward speed. In a situation where the robot's front-bar is locked at 90 degrees, a kinetic constraint about the rotating rate of the front-wheel and the yawing rate of the frame is derived. Using the constraint as a basis, we developed a simplified model of two independent velocities for the robot. The model suggests there is an under-actuated rolling angle in the system. Our control strategy originates from the under- actuated characteristics of the robot system. Concretely, we linearize the rolling angle of the frame and set the bicycle robot to regulate its tilting by rotating the front-wheel. In the track-stand motion, we control the position and the rotational rate of the front-wheel; but in the circular motion, only the rotational rate of the front-wheel is strictly regulated. Both simulations and physical experiments results show that our strategy is effective for achieving these two motions.<p /> <p>Language: en</p>",
language="en",
issn="1729-8806",
doi="10.5772/56701",
url="http://dx.doi.org/10.5772/56701"
}