Modelling and Control of a Hybrid Wheeled Jumping Robot

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

doi:10.1109/IROS45743.2020.9341339

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 proceeding › Conference 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 language	English
Title of host publication	2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publisher	Institute of Electrical and Electronics Engineers
Pages	2563 - 2570
Number of pages	8
ISBN (Electronic)	978-1-7281-6212-6
ISBN (Print)	978-1-7281-6213-3
DOIs	https://doi.org/10.1109/IROS45743.2020.9341339
Publication status	Published - 10 Feb 2021
Event	2020 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, United States Duration: 25 Oct 2020 → 29 Oct 2020 https://www.iros2020.org/index.html

Publication series

Name
Publisher	IEEE
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2020 IEEE/RSJ International Conference on Intelligent Robots and Systems
Abbreviated title	IROS 2020
Country/Territory	United States
City	Las Vegas
Period	25/10/20 → 29/10/20
Internet address	https://www.iros2020.org/index.html

Access to Document

10.1109/IROS45743.2020.9341339Licence: All Rights Reserved

Modeling and Control_DINEV_DOA01072020_AFVAccepted author manuscript, 2.88 MBLicence: All Rights Reserved

https://ieeexplore.ieee.org/document/9341339Licence: All Rights Reserved

MEMMO - Memory of Motion
Vijayakumar, S.
EU government bodies
1/01/18 → 30/06/22
Project: Research
Future AI and Robotics for Space (FAIR-SPACE)
Vijayakumar, S. & Li, Z.
EPSRC
1/10/17 → 31/03/22
Project: Research

Cite this

@inproceedings{f58aaa294ea84428bf3919a4ba572948,

title = "Modelling and Control of a Hybrid Wheeled Jumping Robot",

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.",

author = "Traiko Dinev and Songyan Xin and Wolfgang Merkt and Vladimir Ivan and Sethu Vijayakumar",

year = "2021",

month = feb,

day = "10",

doi = "10.1109/IROS45743.2020.9341339",

language = "English",

isbn = "978-1-7281-6213-3",

publisher = "Institute of Electrical and Electronics Engineers",

pages = "2563 -- 2570",

booktitle = "2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",

address = "United States",

note = "2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 ; Conference date: 25-10-2020 Through 29-10-2020",

url = "https://www.iros2020.org/index.html",

}

Dinev, T, Xin, S, Merkt, W, Ivan, V & Vijayakumar, S 2021, Modelling and Control of a Hybrid Wheeled Jumping Robot. in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Institute of Electrical and Electronics Engineers, pp. 2563 - 2570, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, United States, 25/10/20. https://doi.org/10.1109/IROS45743.2020.9341339

TY - GEN

T1 - Modelling and Control of a Hybrid Wheeled Jumping Robot

AU - Dinev, Traiko

AU - Xin, Songyan

AU - Merkt, Wolfgang

AU - Ivan, Vladimir

AU - Vijayakumar, Sethu

PY - 2021/2/10

Y1 - 2021/2/10

N2 - 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.

AB - 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.

U2 - 10.1109/IROS45743.2020.9341339

DO - 10.1109/IROS45743.2020.9341339

M3 - Conference contribution

SN - 978-1-7281-6213-3

SP - 2563

EP - 2570

BT - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

PB - Institute of Electrical and Electronics Engineers

T2 - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems

Y2 - 25 October 2020 through 29 October 2020

ER -

Modelling and Control of a Hybrid Wheeled Jumping Robot

Abstract

Publication series

Conference

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Projects

MEMMO - Memory of Motion

Future AI and Robotics for Space (FAIR-SPACE)

Cite this