{"id":182,"date":"2022-07-01T03:00:46","date_gmt":"2022-06-30T19:00:46","guid":{"rendered":"http:\/\/ldsc503.direct.quickconnect.to:50801\/wordpress\/?p=182"},"modified":"2024-01-11T15:53:56","modified_gmt":"2024-01-11T07:53:56","slug":"%e5%80%92%e5%96%ae%e6%93%ba%e6%a9%9f%e5%99%a8%e4%ba%ba%e4%b9%8b%e5%bc%b7%e5%81%a5%e9%98%b2%e6%bb%91%e6%8e%a7%e5%88%b6","status":"publish","type":"post","link":"https:\/\/ldsc.pme.nthu.edu.tw\/en\/research\/academic-research\/%e5%80%92%e5%96%ae%e6%93%ba%e6%a9%9f%e5%99%a8%e4%ba%ba%e4%b9%8b%e5%bc%b7%e5%81%a5%e9%98%b2%e6%bb%91%e6%8e%a7%e5%88%b6\/","title":{"rendered":"Anti-slip Balancing Control of <ins>a <\/ins>Humanoid Wheeled Inverted Pendulum Robot"},"content":{"rendered":"\n<p class=\"has-medium-font-size\">This research aims to develop\u00a0systematic methodologies to perform\u00a0sensor fusion, balancing control, and whole-body posture control\u00a0on a\u00a0humanoid wheel inverted pendulum (WIP) robots.\u00a0\u00a0For\u00a0sensor fusion,\u00a0a\u00a0novel pitch\u00a0angle estimator is proposed by merging the\u00a0measurements for two\u00a0IMU\u2019s.\u00a0 Such an estimator is meant to\u00a0eliminate the\u00a0error caused by\u00a0motion acceleration\u00a0when estimating\u00a0the\u00a0pitch angle\u00a0for feedback purposes.\u00a0\u00a0For\u00a0the balancing control,\u00a0a controller that provides robust stability\u00a0to the\u00a0variations of the\u00a0CoM\u00a0height\u00a0is proposed.\u00a0\u00a0Its feedback gain matrix is\u00a0computed\u00a0by\u00a0solving a set of linear matrix inequalities so that\u00a0Lyapunov stability\u00a0can be achieved on a\u00a0linear parameter varying (LPV) model.\u00a0For\u00a0the whole-body\u00a0posture\u00a0control, it contains two controllers:\u00a0the centroid controller and\u00a0the\u00a0roll\u00a0angle\u00a0controller. The objective of the centroid controller is to\u00a0make\u00a0the centroid follow a \u00a0reference\u00a0command\u00a0while keeping the robot body\u00a0in an upright  osition.\u00a0\u00a0The centroid controller\u00a0is\u00a0PI-based and is designed by constructing\u00a0a three-link model\u00a0and \u00a0inverting the differential kinematic relationship between the\u00a0joint\u00a0velocities and\u00a0the centroid\u00a0velocities.\u00a0\u00a0On the other hand, the roll\u00a0angle\u00a0controller is to\u00a0regulate\u00a0the robot\u2019s roll angle.\u00a0\u00a0It is also PI-based and is designed using\u00a0a five-link model\u00a0that describes the kinematic\u00a0relations\u00a0between the roll angle and the joint angles of the legs.\u00a0\u00a0The sensor fusion and control methods are implemented on a humanoid WIP robot built in-house.\u00a0 Simulations and experiments are conducted to validate the feasibility of the proposed approaches.<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/ldsc.pme.nthu.edu.tw\/wp-content\/uploads\/2022\/10\/image-7-1024x501.png\" alt=\"\" class=\"wp-image-183\" width=\"768\" height=\"376\" srcset=\"https:\/\/ldsc.pme.nthu.edu.tw\/wp-content\/uploads\/2022\/10\/image-7-1024x501.png 1024w, https:\/\/ldsc.pme.nthu.edu.tw\/wp-content\/uploads\/2022\/10\/image-7-300x147.png 300w, https:\/\/ldsc.pme.nthu.edu.tw\/wp-content\/uploads\/2022\/10\/image-7-768x376.png 768w, https:\/\/ldsc.pme.nthu.edu.tw\/wp-content\/uploads\/2022\/10\/image-7-200x98.png 200w, https:\/\/ldsc.pme.nthu.edu.tw\/wp-content\/uploads\/2022\/10\/image-7.png 1083w\" sizes=\"auto, (max-width: 768px) 100vw, 768px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-4-3 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<div class=\"ast-oembed-container\" style=\"height: 100%;\"><iframe loading=\"lazy\" title=\"Anti slip Balancing Control of a Wheeled inverted pendulum Vehicle\" width=\"500\" height=\"375\" src=\"https:\/\/www.youtube.com\/embed\/8Sa5--_3uGU?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe><\/div>\n<\/div><\/figure>\n","protected":false},"excerpt":{"rendered":"<p>This research aims to develop\u00a0systematic methodologies to perform\u00a0sensor fusion, balancing control, and whole-body posture control\u00a0on a\u00a0humanoid wheel inverted pendulum (WIP) robots.\u00a0\u00a0For\u00a0sensor fusion,\u00a0a\u00a0novel pitch\u00a0angle estimator is proposed by merging the\u00a0measurements for two\u00a0IMU\u2019s.\u00a0 Such an estimator is meant to\u00a0eliminate the\u00a0error caused by\u00a0motion acceleration\u00a0when estimating\u00a0the\u00a0pitch angle\u00a0for feedback purposes.\u00a0\u00a0For\u00a0the balancing control,\u00a0a controller that provides robust stability\u00a0to the\u00a0variations of the\u00a0CoM\u00a0height\u00a0is &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"\" href=\"https:\/\/ldsc.pme.nthu.edu.tw\/en\/research\/academic-research\/%e5%80%92%e5%96%ae%e6%93%ba%e6%a9%9f%e5%99%a8%e4%ba%ba%e4%b9%8b%e5%bc%b7%e5%81%a5%e9%98%b2%e6%bb%91%e6%8e%a7%e5%88%b6\/\"> <span class=\"screen-reader-text\">Anti-slip Balancing Control of <ins>a <\/ins>Humanoid Wheeled Inverted Pendulum Robot<\/span> Read More &raquo;<\/a><\/p>\n","protected":false},"author":1,"featured_media":183,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_uag_custom_page_level_css":"","site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"default","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"disabled","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"set","footnotes":""},"categories":[17],"tags":[],"class_list":["post-182","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-academic-research"],"translation":{"provider":"WPGlobus","version":"2.12.2","language":"en","enabled_languages":["tw","en"],"languages":{"tw":{"title":true,"content":true,"excerpt":false},"en":{"title":true,"content":true,"excerpt":false}}},"uagb_featured_image_src":{"full":["https:\/\/ldsc.pme.nthu.edu.tw\/wp-content\/uploads\/2022\/10\/image-7.png",1083,530,false],"thumbnail":["https:\/\/ldsc.pme.nthu.edu.tw\/wp-content\/uploads\/2022\/10\/image-7-150x150.png",150,150,true],"medium":["https:\/\/ldsc.pme.nthu.edu.tw\/wp-content\/uploads\/2022\/10\/image-7-300x147.png",300,147,true],"medium_large":["https:\/\/ldsc.pme.nthu.edu.tw\/wp-content\/uploads\/2022\/10\/image-7-768x376.png",768,376,true],"large":["https:\/\/ldsc.pme.nthu.edu.tw\/wp-content\/uploads\/2022\/10\/image-7-1024x501.png",1024,501,true],"1536x1536":["https:\/\/ldsc.pme.nthu.edu.tw\/wp-content\/uploads\/2022\/10\/image-7.png",1083,530,false],"2048x2048":["https:\/\/ldsc.pme.nthu.edu.tw\/wp-content\/uploads\/2022\/10\/image-7.png",1083,530,false],"depicter-thumbnail":["https:\/\/ldsc.pme.nthu.edu.tw\/wp-content\/uploads\/2022\/10\/image-7-200x98.png",200,98,true]},"uagb_author_info":{"display_name":"admin","author_link":"https:\/\/ldsc.pme.nthu.edu.tw\/en\/author\/admin\/"},"uagb_comment_info":0,"uagb_excerpt":"This research aims to develop\u00a0systematic methodologies to perform\u00a0sensor fusion, balancing control, and whole-body posture control\u00a0on a\u00a0humanoid wheel inverted pendulum (WIP) robots.\u00a0\u00a0For\u00a0sensor fusion,\u00a0a\u00a0novel pitch\u00a0angle estimator is proposed by merging the\u00a0measurements for two\u00a0IMU\u2019s.\u00a0 Such an estimator is meant to\u00a0eliminate the\u00a0error caused by\u00a0motion acceleration\u00a0when estimating\u00a0the\u00a0pitch angle\u00a0for feedback purposes.\u00a0\u00a0For\u00a0the balancing control,\u00a0a controller that provides robust stability\u00a0to the\u00a0variations of the\u00a0CoM\u00a0height\u00a0is&hellip;","_links":{"self":[{"href":"https:\/\/ldsc.pme.nthu.edu.tw\/en\/wp-json\/wp\/v2\/posts\/182","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/ldsc.pme.nthu.edu.tw\/en\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/ldsc.pme.nthu.edu.tw\/en\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/ldsc.pme.nthu.edu.tw\/en\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/ldsc.pme.nthu.edu.tw\/en\/wp-json\/wp\/v2\/comments?post=182"}],"version-history":[{"count":12,"href":"https:\/\/ldsc.pme.nthu.edu.tw\/en\/wp-json\/wp\/v2\/posts\/182\/revisions"}],"predecessor-version":[{"id":893,"href":"https:\/\/ldsc.pme.nthu.edu.tw\/en\/wp-json\/wp\/v2\/posts\/182\/revisions\/893"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/ldsc.pme.nthu.edu.tw\/en\/wp-json\/wp\/v2\/media\/183"}],"wp:attachment":[{"href":"https:\/\/ldsc.pme.nthu.edu.tw\/en\/wp-json\/wp\/v2\/media?parent=182"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/ldsc.pme.nthu.edu.tw\/en\/wp-json\/wp\/v2\/categories?post=182"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/ldsc.pme.nthu.edu.tw\/en\/wp-json\/wp\/v2\/tags?post=182"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}