Robot System Control Lab
한국항공대학교 기계항공공학과 로봇시스템제어연구실 (기계관 427 메카트로닉스실험실)
School of Aerospace & Mechanical Engineering, Korea Aerospace University
한국항공대학교 기계항공공학과 로봇시스템제어연구실 (기계관 427 메카트로닉스실험실)
School of Aerospace & Mechanical Engineering, Korea Aerospace University
[2025] 양바퀴-다리 병렬기구 로봇 능동 밸런스 제어
Modeling and Active Balance Control of a Two-wheel-legged Inverted Pendulum Robot
A two-wheel-legged robot (TWLR) typically consists of bipedal legs, two wheels, and torso connecting the two parallel legs with three revolute joints. The inverse kinematic solutions for the leg joints are given as a prerequisite for tracking task-space trajectories which define the posture of torso. The movement of the overall center of mass of the robot following the multi-joint motions is assumed as a 3-D inverted pendulum and the dynamic equation of motion is developed by applying Kane’s method.
[2025] 밸런싱 모바일 매니퓰레이터 설계, 동적 모델링, 자세제어
(Dynamic Modeling and Balancing Control of a Two-wheeled Mobile Manipulator With Internal Disturbance Compensation)
Two-wheeled mobile manipulators combining the mobility of a balancing platform and manipulation capability are suitable for various industrial and logistic applications requiring fast and swift tasks. However, their underactuated and nonlinear nature makes them sensitive to the internal disturbances caused by joint movements. This paper addresses this issue using a nonlinear disturbance observer that generates compensation inputs for the underactuated two-wheeled system.
[2024] 구동륜 운동모델에 기반한 역진자 주행로봇의 견인력 제어
(Traction Control of an Inverted Pendulum Robotic Vehicle Based on a Driving Wheel Motion Model)
The anti-slip performance of an inverted pendulum self-balancing robotic vehicle is heavily dependent on the accuracy of the dynamic model of driving wheels. To address this issue, we first incorporate the coupling effect of the inverted pendulum into the longitudinal motion model. Next, a nonlinear disturbance observer is implemented to compensate for model uncertainty due to unknown surface conditions.
[2023] 비평탄 경사 노면에 대한 밸런싱 주행 로봇의 지형 추종 제어
(Navigation-free terrain-following control of a balancing mobile robot on uneven surfaces)
The uncertain slope of inclined terrains can be regarded as a major environmental disturbance degrading the driving performance and the pitch balancing stability. We establish a dynamic model of the self-balancing robot including the slope parameters of a three-dimensional terrain, and suggest a sort of navigation-free terrain following control method to compensate for the longitudinal slope and lateral one at the same time.
[2023] 바퀴 가속도 인디케이터를 이용한 주행 로봇 슬립제어
Wheel-Slip Control of an Underactuated Robot Vehicle with an acceleration indicator
A TWIP-compatible countermeasure against the wheel slip phenomena is investigated for enhancing the reliability of the vehicle and the robustness of the motion control performance on low-frictional surfaces. To this end, we propose a balancing-prioritized anti-slip control method based on the maximum transmissible torque estimation, which is activated only when a wheel slip is detected by the acceleration slip indicator utilizing accessible data from the IMU and wheel encoders.
[2022] 불확실한 노면 환경에서의 밸런싱 주행로봇의 자세 안정화 기법
Posture Stabilization of Underactuated Balancing Vehicle on Uncertain Terrains
Two-wheeled inverted pendulum (TWIP) vehicles are prone to lose their mobility and postural stability owing to their inherently unstable and underactuated dynamic characteristics, specifically when they encounter abruptly changed slopes or ground friction. Overcoming such environmental disturbances is essential to realize an agile TWIP-based mobile platform. The proposed control method enables us to intuitively determine the disturbance compensation input of the two wheels and the pitch reference input accommodating to uncertain terrains in real time.
[2021] 밸런싱 주행 로봇의 경계추종 자율주행
A Lane Following Autonomous Driving of an Inverted Pendulum Mobile Robot Robust to Heavy Pitch Motions
We investigate a local path planning method accountable for the heavy pitch motion of a mobile robot by considering the camera posture in real-time image processing, which is based on the vanishing point tracking and the pinhole camera model. The highlight lies in adopting the vertical filter to exclude vertical outliers from the boundary data and the image horizon filter to determine a valid vanishing point candidate.
[2021] 주행로봇의 자세 안정화를 위한 비선형 외란관측기
Nonlinear Disturbance Observer for Enhancing Postural Stability of Two-Wheeled Inverted Pendulum Mobile Robot
We suggest a disturbance compensation method which is compatible to the TWIP mobile robot in terms of the nonlinear model-based disturbance observer, where the TWIP dynamic model is transformed to a pseudo-fully actuated system with a full-rank input matrix by regarding the gravitational moment of the underactuated pendulum as a supplementary actuator to counteract the pitch disturbances.
[2020] 직접 구동 휠 방식 밸런싱 모바일 로봇 설계 (프로토타입)
Balancing Mobile Robot with Direct-Drive Wheel Motors (Prototype)
Robot System Control Lab.
School of Aerospace & Mechanical Engineering,
Korea Aerospace University
[2020] 셀프 밸런싱 주행기기 실시간 편심 추정 기법
Real-Time Estimation and Compensation Technique for Eccentricity of a Self-Balancing Vehicle Using Loadcells
We consider how to estimate the variation of COG in real-time and compensate for the eccentric effect to the posture control system by using load cells. For the lateral eccentricity, load cells are employed to detect the difference between the normal reactions acting on the two wheels. For the longitudinal eccentricity, the equilibrium pitch angle is generated in real time as the reference input to the pitch control loop.
[2020] 셀프-밸런싱 로봇에 대한 모델기반 실시간 궤적 플래닝
Robust Transition Control of Underactuated Two-Wheeled Self-Balancing Vehicle with Semi-Online Dynamic Trajectory Planning
The dynamic trajectory planning for the underactuated mobile inverted pendulum is conducted by solving a two-point boundary value problem with the constraint equation of internal dynamics. The restriction of the offline trajectories for real-time applications is relaxed by establishing a semi-online planning method. The proposed control scheme is profitable to stabilize the initial transient motion and get over the performance limit of the conventional feedback-only control.
[2019] 능동조향 방식 셀프-밸런싱 모바일 로봇 (프로토타입)
Active Steering-Type Self-Balancing Mobile Robot (Prototype)
Robot System Control Lab.
School of Aerospace & Mechanical Engineering, Korea Aerospace University
[2019] 주행 로봇의 자세제어 성능 향상을 위한 슬립방지 제어
Anti-Slip Control Design to Improve Posture Control Performance of a Two-wheeled Personal Transporter
We give a detailed analysis on the behavior of TWIP vehicles under various low-traction conditions and suggest an easy-to-apply anti-slip control algorithm based on the slip-ratio estimation. The simulation results demonstrate the effectiveness of the proposed control method.
[2018] 선회주행 성능 개선을 위한 양바퀴 역진자 로봇
Two-Wheeled Inverted Pendulum Robot for Improving Cornering Performance
We propose an active tilting-type TWIP platform, which adopts the notion of the Ackermann steering in commercial vehicles. The active linkage realizes the steering motion on the horizontal plane and alleviates the adverse effect of the centrifugal force by moving the center of mass. As a result, it significantly improves the roll stability of the TWIP robot in cornering and contributes to the yaw stability.
[2018] 능동조향 방식 셀프-밸런싱 주행 로봇 설계
Active Steering-Type Self-Balancing Mobile Robot:
Mechanism Design and Analysis
Robot System Control Lab.
School of Aerospace & Mechanical Engineering,
Korea Aerospace University
[2017] 부족구동 역진자 모바일 플랫폼에 대한 SDRE 비선형 최적제어
Nonlinear Optimal Control Design for Underactuated Two-Wheeled Inverted Pendulum Mobile Platform
In terms of the state-dependent Riccati equation (SDRE) control framework, a nonlinear motion control is investigated for the two-wheeled inverted pendulum (TWIP) mobile robot platform. As a critical design issue, the state dependent coefficient (SDC) matrix is established based on the sound understanding about the dynamic characteristics of the TWIP robot.
Robot System Control Lab.
School of Aerospace & Mechanical Engineering, Korea Aerospace University