TY  - JOUR
PY  - 2013//
TI  - Balanced motions realization for a mechanical regulators free and front-wheel drive bicycle robot under zero forward speed
JO  - Int. J. Adv. Robot. Syst.
A1  - Huang, Yonghua
A1  - Liao, Qizheng
A1  - Guo, Lei
A1  - Wei, Shimin
SP  - e317
EP  - e317
VL  - 10
IS  - 
N2  - 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>
LA  - en
SN  - 1729-8806
UR  - http://dx.doi.org/10.5772/56701
ID  - ref1
ER  -