Modelling and Control of a Hybrid Wheeled Jumping Robot

Traiko Dinev, Songyan Xin, Wolfgang Merkt, Vladimir Ivan, Sethu Vijayakumar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we study a wheeled robot with a prismatic extension joint. This allows the robot to build up momentum to perform jumps over obstacles and to swing up to the upright position after the loss of balance. We propose a template model for the class of such two-wheeled jumping robots. This model can be considered as the simplest wheeled-legged system. We provide an analytical derivation of the system dynamics which we use inside a model predictive controller (MPC). We study the behavior of the model and demonstrate highly dynamic motions such as swing-up and jumping. Furthermore, these motions are discovered through optimization from first principles. We evaluate the controller on a variety of tasks and uneven terrains in a simulator.
Original languageEnglish
Title of host publication2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages2563 - 2570
Number of pages8
ISBN (Electronic)978-1-7281-6212-6
ISBN (Print)978-1-7281-6213-3
DOIs
Publication statusPublished - 10 Feb 2021
Event2020 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, United States
Duration: 25 Oct 202029 Oct 2020
https://www.iros2020.org/index.html

Publication series

Name
PublisherIEEE
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2020 IEEE/RSJ International Conference on Intelligent Robots and Systems
Abbreviated titleIROS 2020
Country/TerritoryUnited States
CityLas Vegas
Period25/10/2029/10/20
Internet address

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