IROS 2020 | Modeling and Control of a Hybrid Wheeled Jumping Robot
We are going to introduce these papers during the time of IROS 2020. Below is the article Modeling and Control of a Hybrid Wheeled Jumping Robot, the corresponding author of this paper is Professor Sethu Vijayakumar. Professor Sethu Vijayakumar directs one of our International Collaboration Joint Project titled [Mobile Collaborative Robots: Addressing Real World Challenges] setup between the University of Edinburgh and AIRS, with Professor Tin Lun Lam.
Wheeled-legged robots combine the efficiency of wheeled robots when driving on suitably flat surfaces and versatility of legged robots when stepping over or around obstacles. Wheeled-biped robots such as ASCENTO, Handle have demonstrated dynamic jump motions and it opens up new possibilities to overcome terrains including challenging obstacles.
In this paper, we study a wheeled robot with a prismatic extension joint. This allows the robot to build up momentum to perform jumps over obstacles and to swing up to the upright position after the loss of balance. We propose a template model for the class of such two-wheeled jumping robots. This model can be considered as the simplest wheeled-legged system. We provide an analytical derivation of the system dynamics which we use inside a model predictive controller (MPC). We study the behavior of the model and demonstrate highly dynamic motions such as swing-up and jumping. Furthermore, these motions are discovered through optimization from first principles. We evaluate the controller on a variety of tasks and uneven terrains in a simulator.
One of authors of this paper is Songyan Xin, who is a post doc of UoE in UK and he is the strand leader of “Multi-Contact Planning and Control” of the international joint research project between AIRS and UoE. His research interests lie in applying control, optimization and machine learning algorithms on legged robots to generate dynamic movements. Before joining the university of Edinburgh, he got his PhD in Bioengineering and Robotics from Italian Institute of Technology and the University of Genoa under the supervision of Dr. Nikolaos Tsagarakis.
The corresponding author of this paper is Professor Sethu Vijayakumar. Professor Vijayakumar is Professor of Robotics at the University of Edinburgh and an Adjunct Faculty of the University of Southern California, Los Angeles, the Co-Programme Director of the Alan Turing Institute and a visiting Research Scientist at the ATR Computational Neuroscience Labs, Kyoto-Japan. His research interest spans a broad interdisciplinary curriculum involving basic research in the fields of robotics, statistical machine learning, motor control, planning and optimization in autonomous systems and computational neuroscience. He is a fellow of the Royal Society of Edinburgh. Professor Sethu Vijayakumar directs one of our International Collaboration Joint Project titled [Mobile Collaborative Robots: Addressing Real World Challenges] setup between the University of Edinburgh and AIRS, with Professor Tin Lun Lam. Professor Lam is faculty at CUHK-SZ and is the director of Research Center on Intelligent Robots of AIRS. The project aims to make fundamental and applied advances in the field of artificial intelligence and robotics, with current research focus in the areas of perception, motion planning and control in the field of high dimensional robotics system and HRI.
This research is supported by the EPSRC Centre for Doctoral Training in Robotics and Autonomous Systems (EP/L016834/1), the EPSRC UK RAI Hub in Future AI and Robotics for Space (FAIR-SPACE, ID:EP/R026092/1), the EU H2020 project Memory of Motion (MEMMO, ID: 780684) and funding from Shenzhen Institute of Artificial Intelligence and Robotics for Society (2019-ICP002). We would like to thank Henrique Ferollho and Matthew Timmons-Brown for their valuable help and feedback.