Slip Detection and Control of Wheel Robots on Surface with Minor Obstacles

2023/12/01

Slip Detection and Control of Wheel Robots on Surface with Minor Obstacles

This research project was inspired by the observation that a normal two-wheeled self-balancing robot cannot explicitly handle situations when wheels ride over and slip on minor obstacles, such as small rocks and projectiles, resulting in a loss of balance.

This slipping is handled by calculating the friction force to detect slip instances, then using a discrete controller to handle slipping separately.

This detection mechanism can also be used for off-ground and touchdown detection, which allows safer operation and better handling of emergency situations.

Demonstrations

• Slip Causing Instability During Competition
• Stability Improved with Slip Detection and Discrete Controller
• No Off Ground and Touchdown Detection
• With Off Ground and Touchdown Detection