Dynamic height balance control for bipedal wheeled robot based on ROS-Gazebo

Tangyou Liu; Chao Zhang; Shuang Song; Max Q.H. Meng

doi:10.1109/ROBIO49542.2019.8961739

Dynamic height balance control for bipedal wheeled robot based on ROS-Gazebo

Tangyou Liu
, Chao Zhang
, Shuang Song^*
, Max Q.H. Meng

^*Corresponding author for this work

Harbin Institute of Technology Shenzhen
Chinese University of Hong Kong
Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

30 Scopus citations

Abstract

In complex living environments, the application of mobile robots places higher demands on speed, flexibility, and affinity for people. This is an ongoing challenge in mobile robotics. Having these properties is an important research task for mobile robots in human settlements. The SR600 robot is a bipedal wheeled robot platform, developed by the RP laboratory of Harbin Institute of Technology, Shenzhen, is a human-like bipedal legged-wheeled robot. This paper introduces a method to realize changing height while the bipedal wheeled robot maintains dynamic balance, and simulated it by constructing a simple ROS-Gazebo simulation environment. Finally, the feasibility of the method is verified by a simple prototype experiment.

Original language	English
Title of host publication	IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1875-1880
Number of pages	6
ISBN (Electronic)	9781728163215
DOIs	https://doi.org/10.1109/ROBIO49542.2019.8961739
State	Published - Dec 2019
Externally published	Yes
Event	2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 - Dali, China Duration: 6 Dec 2019 → 8 Dec 2019

Publication series

Name	IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

Conference

Conference	2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
Country/Territory	China
City	Dali
Period	6/12/19 → 8/12/19

Keywords

Bipedal legged-wheeled robot
ROS-Gazebo
Variable height dynamic balance control

Access to Document

10.1109/ROBIO49542.2019.8961739

Cite this

Liu, T., Zhang, C., Song, S., & Meng, M. Q. H. (2019). Dynamic height balance control for bipedal wheeled robot based on ROS-Gazebo. In IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 (pp. 1875-1880). Article 8961739 (IEEE International Conference on Robotics and Biomimetics, ROBIO 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO49542.2019.8961739

@inproceedings{97b011b60f394d31bdc94f3cf0c20d45,

title = "Dynamic height balance control for bipedal wheeled robot based on ROS-Gazebo",

abstract = "In complex living environments, the application of mobile robots places higher demands on speed, flexibility, and affinity for people. This is an ongoing challenge in mobile robotics. Having these properties is an important research task for mobile robots in human settlements. The SR600 robot is a bipedal wheeled robot platform, developed by the RP laboratory of Harbin Institute of Technology, Shenzhen, is a human-like bipedal legged-wheeled robot. This paper introduces a method to realize changing height while the bipedal wheeled robot maintains dynamic balance, and simulated it by constructing a simple ROS-Gazebo simulation environment. Finally, the feasibility of the method is verified by a simple prototype experiment.",

keywords = "Bipedal legged-wheeled robot, ROS-Gazebo, Variable height dynamic balance control",

author = "Tangyou Liu and Chao Zhang and Shuang Song and Meng, \{Max Q.H.\}",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 ; Conference date: 06-12-2019 Through 08-12-2019",

year = "2019",

month = dec,

doi = "10.1109/ROBIO49542.2019.8961739",

language = "英语",

series = "IEEE International Conference on Robotics and Biomimetics, ROBIO 2019",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1875--1880",

booktitle = "IEEE International Conference on Robotics and Biomimetics, ROBIO 2019",

address = "美国",

}

Liu, T, Zhang, C, Song, S & Meng, MQH 2019, Dynamic height balance control for bipedal wheeled robot based on ROS-Gazebo. in IEEE International Conference on Robotics and Biomimetics, ROBIO 2019., 8961739, IEEE International Conference on Robotics and Biomimetics, ROBIO 2019, Institute of Electrical and Electronics Engineers Inc., pp. 1875-1880, 2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019, Dali, China, 6/12/19. https://doi.org/10.1109/ROBIO49542.2019.8961739

Dynamic height balance control for bipedal wheeled robot based on ROS-Gazebo. / Liu, Tangyou; Zhang, Chao; Song, Shuang et al.
IEEE International Conference on Robotics and Biomimetics, ROBIO 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 1875-1880 8961739 (IEEE International Conference on Robotics and Biomimetics, ROBIO 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - Zhang, Chao

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AU - Meng, Max Q.H.

PY - 2019/12

Y1 - 2019/12

N2 - In complex living environments, the application of mobile robots places higher demands on speed, flexibility, and affinity for people. This is an ongoing challenge in mobile robotics. Having these properties is an important research task for mobile robots in human settlements. The SR600 robot is a bipedal wheeled robot platform, developed by the RP laboratory of Harbin Institute of Technology, Shenzhen, is a human-like bipedal legged-wheeled robot. This paper introduces a method to realize changing height while the bipedal wheeled robot maintains dynamic balance, and simulated it by constructing a simple ROS-Gazebo simulation environment. Finally, the feasibility of the method is verified by a simple prototype experiment.

AB - In complex living environments, the application of mobile robots places higher demands on speed, flexibility, and affinity for people. This is an ongoing challenge in mobile robotics. Having these properties is an important research task for mobile robots in human settlements. The SR600 robot is a bipedal wheeled robot platform, developed by the RP laboratory of Harbin Institute of Technology, Shenzhen, is a human-like bipedal legged-wheeled robot. This paper introduces a method to realize changing height while the bipedal wheeled robot maintains dynamic balance, and simulated it by constructing a simple ROS-Gazebo simulation environment. Finally, the feasibility of the method is verified by a simple prototype experiment.

KW - Bipedal legged-wheeled robot

KW - ROS-Gazebo

KW - Variable height dynamic balance control

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DO - 10.1109/ROBIO49542.2019.8961739

M3 - 会议稿件

AN - SCOPUS:85079062770

T3 - IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

SP - 1875

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BT - IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

PB - Institute of Electrical and Electronics Engineers Inc.

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Y2 - 6 December 2019 through 8 December 2019

ER -

Liu T, Zhang C, Song S, Meng MQH. Dynamic height balance control for bipedal wheeled robot based on ROS-Gazebo. In IEEE International Conference on Robotics and Biomimetics, ROBIO 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 1875-1880. 8961739. (IEEE International Conference on Robotics and Biomimetics, ROBIO 2019). doi: 10.1109/ROBIO49542.2019.8961739

Dynamic height balance control for bipedal wheeled robot based on ROS-Gazebo

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Keywords

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