The next speaker in our student seminar series will be Dominic Robillard. Dominic will be giving a talk titled “Development of a stair-climbing robot and a hybrid stabilization system for self-balancing robots”.
Where: CBY D207
Date: Wednesday June 25th, 2014
The abstract of the talk is given below. Hope to see you all there!
Development of a stair-climbing robot and a hybrid stabilization system for self-balancing robots
Candidate: Dominic Robillard
Supervisor: Dr. Eric Lantaigne
Self-balancing robots are unique mobile platforms that stay upright on two wheels using a dynamic control system. They can turn on the spot using differential steering and have compact form factors that limit their required floor space. However they have major limitations: they cannot stand-up on their own, climb stairs, or overcome large obstacles. The first part of this research proposes a novel design to address the aforementioned issues related to stair-climbing, standing-up, and obstacles. A single revolute joint is added to the centre of a four-wheel drive robot onto which an arm is attached, allowing the robot to successfully climb stairs and stand-up on its own from a single motion. A model and simulation of the balancing and stair-climbing process are derived, and compared against experimental results with a custom robot prototype. The second part of this research examines a control system for an inverted pendulum equipped with a gyroscopic mechanism for integration into self-balancing robots. It improves disturbance rejection during balance, and keeps equilibrium on slippery surfaces. The model of a gyroscope mounted onto an actuated gimbal was derived and simulated. To prove the concept worked, a custom-built platform showed it is possible for a balancing robot to stay upright with zero traction under the wheels.