Dynamic step traverse of a two-wheeled mobile robot

Abstract

We present a novel approach to enable a two-wheeled mobile robot to traverse stepped terrains while maintaining balance. By utilising the drive wheels as reaction wheels to generate reaction torque during flight, it is possible to regulate the attitude of the robot and alter the pre-impact landing angle, ensuring a successful landing. A state dependent feedback control scheme is designed to control the motion of the robot while keeping it upright. By taking into consideration the dynamics of the motion, the two-wheeled robot is able to traverse stepped terrain in a dynamic and fast manner. Our prototype robot has successfully negotiate steps, stairs as well as steps up to 70 cm high. Results of our findings confirm the viability and effectiveness of our proposed approach.