Awakening Strategies from a Sleeping Mode to a Balancing Mode for a Sphere Robot

다국어 초록 (Multilingual Abstract)

This paper presents the strategy of awakening a sphere robot from a sleep mode to a balancing mode.
The sphere robot is designed on the basis of a single-wheel robot covered with two hemispheres to have the sphereshape with casters to maintain the sleep mode at a specific angle. The sleep angle has been empirically found tobe 16 degrees for enabling the sphere robot to be upright position. The gyroscopic force is controlled to performthe awakening strategy of the robot system. Firstly, the key design features such as angular momentum, agility,and controllable bandwidth are investigated to identify three phases such as triggering, stumbling, and stabilizingfor the awakening strategy. Secondly, the sphere robot is modeled as an inverted stick and the phase portrait of themodel is analyzed. Thirdly, a control law with a compensation algorithm is proposed to enhance the stabilizingperformance. Finally, the proposed awakening strategy is verified through experimental studies.

참고문헌 (Reference)

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