Development and control of a two-wheeled legged robot with reaction wheel | |
| Author | Jin, Changrui |
| Call Number | AIT Thesis no.ISE-23-03 |
| Subject(s) | Mobile robots--Design and construction Robots--Motions Mechatronics |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics |
| Publisher | Asian Institute of Technology |
| Abstract | Mobile robot is one of the main focuses of modern industrial development, they can be widely used in different unmanned scenarios like inspection, delivery and patrol. Traditional mobile robot can be divided into three groups, wheel type, leg and foot type, and track type, in order to further improve the flexibility and versatility of the robot, researchers start to develop hybrid type mobile robot in recent years. Wheeled and legged type mobile robot is a new type of mobile robot, it combines the advantages of wheel and leg structure. Since it’s still an early stage for the development of this new type of robot, it is significant to explore more possible designs. This research designed a two-wheeled legged robot (TWLR), it has only two wheels as the main actuator of the system, and a five-link leg structure was designed which allow the user to manually set the height of each leg independently, different with any other published TWLR, this robot also contains a reaction wheel in its body to assist the wheels to control the balance of the system. The dynamic equation of the robot was derived, different controllers for the balance control of this robot are designed and tested, simulations and experiments were performed to verify the effectiveness of the controllers and the reaction wheel, data and results of the real system is provided and analyzed in this thesis. |
| Year | 2023 |
| Type | Thesis |
| School | School of Engineering and Technology |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Mechatronics and Machine Intelligence (MMI) |
| Chairperson(s) | Manukid Parnichkun; |
| Examination Committee(s) | Mongkol Ekpanyapong;Bora, Tanujjal; |
| Scholarship Donor(s) | China Scholarship Council (CSC); |
| Degree | Thesis (M. Eng.) - Asian Institute of Technology, 2023 |