Self-Balancing Wheeled Robot for Discontinuous Terrains
Abstract
Wheeled robots present an ideal platform for traversing even terrains, particularly due to their stable base and simple actuator design; however, many implementations are ill suited to handle abrupt changes in elevation. A common approach to this issue lies in the design of specialized members, either through a modified chassis, or in the geometry of the wheels. Unfortunately, such tactics either substantially increase the bulkiness of the robot or are too specialized to serve as a general solution. With the recent upsurge in interest for biologically inspired robots, the concept of a “hopping” robot could be pursued to answer this problem. Indeed, Ascento Robotics has already proven the feasibility of such a concept, and the increased agility sets this design apart from alternative solutions. This approach, however, is still relatively new and consequently costly, with Ascento’s robots being leased by the hour in order to mitigate upfront costs. I propose a project to develop an open-source solution for the design of a self-balancing robot, capable of hopping across discontinuous surfaces. Through my efforts, I hope to set a framework that will support future projects in this field and to open the door for other universities interested in participating in collaborative research.
Self-Balancing Wheeled Robot for Discontinuous Terrains
Wheeled robots present an ideal platform for traversing even terrains, particularly due to their stable base and simple actuator design; however, many implementations are ill suited to handle abrupt changes in elevation. A common approach to this issue lies in the design of specialized members, either through a modified chassis, or in the geometry of the wheels. Unfortunately, such tactics either substantially increase the bulkiness of the robot or are too specialized to serve as a general solution. With the recent upsurge in interest for biologically inspired robots, the concept of a “hopping” robot could be pursued to answer this problem. Indeed, Ascento Robotics has already proven the feasibility of such a concept, and the increased agility sets this design apart from alternative solutions. This approach, however, is still relatively new and consequently costly, with Ascento’s robots being leased by the hour in order to mitigate upfront costs. I propose a project to develop an open-source solution for the design of a self-balancing robot, capable of hopping across discontinuous surfaces. Through my efforts, I hope to set a framework that will support future projects in this field and to open the door for other universities interested in participating in collaborative research.