论文标题
自动驾驶的自动骑自行车控制，用于与辅助腿冲动驱动的障碍物
Autonomous Bikebot Control for Crossing Obstacles with Assistive Leg Impulsive Actuation
论文作者
论文摘要
作为一个单轨移动平台，Bikebot（即基于自行车的机器人）具有有吸引力的导航能力，可以通过高速和高能效率的狭窄，越野地形。但是，跑步类似阶梯式障碍物对本质上不稳定的，不足的自行车机器人造成了挑战。本文提供了一种新型的自动驾驶自动骑行机器人控制，并辅助腿部驱动，以应对穿越障碍。拟议的设计将基于外部/内部可转换的控制与腿辅助脉冲控制集成在一起。腿部的相互作用会产生辅助冲动扭矩，以帮助保持导航和平衡能力在跨障碍物时。对控制性能进行了分析和保证。实验结果证实，在控制设计下，自行车机器人可以平稳地越过多个阶梯状障碍，高度超过三分之一的车轮半径。比较结果表明，仅在没有腿部辅助冲动驱动的情况下，仅在速度和转向控制下的表现就表现出色。
As a single-track mobile platform, bikebot (i.e., bicycle-based robot) has attractive navigation capability to pass through narrow, off-road terrain with high-speed and high-energy efficiency. However, running crossing step-like obstacles creates challenges for intrinsically unstable, underactuated bikebots. This paper presents a novel autonomous bikebot control with assistive leg actuation to navigate crossing obstacles. The proposed design integrates the external/internal convertible-based control with leg-assisted impulse control. The leg-terrain interaction generates assistive impulsive torques to help maintain the navigation and balance capability when running across obstacles. The control performance is analyzed and guaranteed. The experimental results confirm that under the control design, the bikebot can smoothly run crossing multiple step-like obstacles with height more than one third of the wheel radius. The comparison results demonstrate the superior performance than those under only the velocity and steering control without leg assistive impulsive actuation.
