Abstract
To keep the balance and the stable movement of a wheeled bipedal robot (WBR) on a road with large, unknown and continuously variable inclination, a control strategy based on nonlinear sliding mode controller (SMC) and unscented kalman filter (UKF) is proposed in this study. This strategy can directly identify the angle of the slope in real-time based on the nonlinear model, which helps to cope with various unknown road conditions. Simulations have shown that the proposed control architecture can tackle with gentle, sharp and sinusoidal terrains in both small and large scale with the extreme inclination of \(47.5^{{\circ }}\). Besides, the WBR can start at a slope even exceed \(20^{{\circ }}\) without any prior information about the surroundings, which demonstrates its robustness to the initial terrain condition. Results also show that the proposed strategy works more swift and stable, compared to three other control architectures: single LQR, single SMC and SMC combined with extended kalman filter (EKF).
This work is supported by the National Natural Science Foundation of China under Grant 62203450.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Bjelonic M., Klemm V., Lee J., Hutter M.: A survey of wheeled-legged robots. In: Cascalho J.M., Tokhi M.O., Silva M.F., Mendes A., Goher K., Funk M. (eds) Robotics in Natural Settings. CLAWAR 2022. Lecture Notes in Networks and Systems, vol. 530. Springer, Cham (2023). https://doi.org/10.1007/978-3-031-15226-9_11
Klemm V. et al.: Ascento: a two-wheeled jumping robot. In: International Conference on Robotics and Automation (ICRA), pp. 7515–7521 (2019)
ETH Zürich: This robot is a security guard - Ascento. https://www.youtube.com/watch?v=VWfBvq4QfEY. Accessed 20 May 2023
Boston Dynamics: Introducing handle.https://youtu.be/-7xvqQeoA8c. Accessed 20 May 2023
Jung, T., et al.: Development of the humanoid disaster response platform DRC-HUBO+. IEEE Trans. Rob. 34(1), 1–17 (2018)
Goher, K.M., Fadlallah, S.O.: Control of a two-wheeled machine with two-directions handling mechanism using PID and PD-FLC algorithms. Int. J. Autom. Comput. 16, 511–533 (2019)
Johnson, T., et al.: Implementation of a perceptual controller for an inverted pendulum robot. J. Intell. Rob. Syst. 99, 683–692 (2020)
Esmaeili, N., Alfi, A., Khosravi, H.: Balancing and trajectory tracking of two-wheeled mobile robot using backstepping sliding mode control: design and experiments. J. Intell. Rob. Syst. 87, 601–613 (2017)
Cao, H., Lu, B., Liu, H., Liu, R., Guo, X.: Modeling and MPC-based balance control for a wheeled bipedal robot. In: 41st Chinese Control Conference (CCC), pp. 420–425. IEEE, Hefei (2022)
Huang, J., Ri, M., Wu, D., Ri, S.: Interval type-2 fuzzy logic modeling and control of a mobile two-wheeled inverted pendulum. IEEE Trans. Fuzzy Syst. 26(4), 2030–2038 (2018)
Xu, J.-X., Guo, Z.-Q., Lee, T.H.: Design and implementation of integral sliding-mode control on an underactuated two-wheeled mobile robot. IEEE Trans. Ind. Electron. 61(7), 3671–3681 (2013)
Zhou, H., et al.: Control of the two-wheeled inverted pendulum (TWIP) robot moving on the continuous uneven ground. In: International Conference on Robotics and Biomimetics (ROBIO), pp. 1588–1594. IEEE, Dali (2019)
Welch, G., Bishop, G.: An introduction to the kalman filter. In: 28th International Conference on Computer Graphics and Interactive Techniques (SIGGRAPH), Course 8, pp. 27599–23175. Association for Computing Machinery, Los Angeles (2001)
Liu, J.: Sliding Mode Control and Matlab Simulation: The Design Method of Advanced Control System, 4th edn., pp. 172–173. Tsinghua University Press, Beijing (2021)
Wan, E.A., Van Der Merwe, R.: The unscented kalman filter for nonlinear estimation. In: IEEE Adaptive Systems for Signal Processing. Communications, and Control Symposium (AS-SPCC), pp. 153–158. IEEE, Lake Louise (2000)
Julier, S.J.: The scaled unscented transformation. In: American Control Conference (ACC), pp. 4555–4559. IEEE, Anchorage (2002)
Xu, J., Guo, Z., Lee, T.: Synthesized design of a fuzzy logic controller for an underactuated unicycle. Fuzzy Sets Syst. 207, 77–93 (2012)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Tu, B., Lu, B., Piao, M. (2023). Control of the Wheeled Bipedal Robot on Roads with Large and Unknown Inclination. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14270. Springer, Singapore. https://doi.org/10.1007/978-981-99-6492-5_25
Download citation
DOI: https://doi.org/10.1007/978-981-99-6492-5_25
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-99-6491-8
Online ISBN: 978-981-99-6492-5
eBook Packages: Computer ScienceComputer Science (R0)