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Awakening strategies from a sleeping mode to a balancing mode for a sphere robot

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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 sphere shape with casters to maintain the sleep mode at a specific angle. The sleep angle has been empirically found to be 16 degrees for enabling the sphere robot to be upright position. The gyroscopic force is controlled to perform the 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 stabilizing for the awakening strategy. Secondly, the sphere robot is modeled as an inverted stick and the phase portrait of the model is analyzed. Thirdly, a control law with a compensation algorithm is proposed to enhance the stabilizing performance. Finally, the proposed awakening strategy is verified through experimental studies.

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Authors and Affiliations

  1. Intelligent Systems and Emotional Engineering(ISEE) Laboratory, Department of Mechatronics Engineering, Chungnam National University, 99 Daehak-ro, Yuseong-gu, Daejeon, 34134, Korea

    Sang Deok Lee & Seul Jung

Authors
  1. Sang Deok Lee
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  2. Seul Jung
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Corresponding author

Correspondence to Seul Jung.

Additional information

Recommended by Associate Editor Kyu-Jin Cho under the direction of Editor Hamid Reza Karimi. This work has been supported by the National Research Foundation of Korea (NRF-2014R1A2A1A11049503 and 2016R1A2B2012031).

Sang-Deok Lee received his B.S. and M. S. degrees in Electronics Engineering from Cheonbuk National University, in 1998 and 2003, respectively. He joined LG Precision and Samsung Heavy Industries from 1998 to 2000 and from 2003 to 2014, respectively. He is currently a Ph.D. candidate in Department of Mechatronics Engineering at Chungnam National University. His research interests are Mechatronic system identification and control.

Seul Jung received the B.S. degree in Electrical and Computer Engineering from Wayne State University, Detroit, MI, USA in 1988, and the M.S. and Ph.D. degrees in Electrical and Computer Engineering from the University of California, Davis, in 1991 and 1996, respectively. In 1997, he joined the Department of Mechatronics Engineering, Chungnam National University, where he is presently a professor. His research interests include intelligent Mechatronics systems, intelligent robotic systems, mobile manipulators for home service applications, gyroscope applications, and robot education. He is a member of IEEE, ACA, ICROS, KROS, KIIS, KIEE, IEMEK, and IEEK.

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Lee, S.D., Jung, S. Awakening strategies from a sleeping mode to a balancing mode for a sphere robot. Int. J. Control Autom. Syst. 15, 2840–2847 (2017). https://doi.org/10.1007/s12555-017-0007-4

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  • DOI: https://doi.org/10.1007/s12555-017-0007-4

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