@inproceedings{4c5681c0dcba480c9c8f5466573e8200,
title = "Standing-up control and ramp-climbing control of a spherical wheeled robot",
abstract = "This paper proposes a new type of spherical wheeled robot with an annular support leg. It can keep statically stable when powered off and automatically stand up with the assistance of the support leg when powered on. The stability of the robot at equilibrium is verified firstly using the planar simplified model. And the robot is proved to be controllable. Thus a double-closed loop control system is designed to stabilize the robot. Based on it, the standing-up control system and ramp-climbing control system are realized by changing control structure and using fuzzy control strategies. The design of the annular support leg, the experimental results and conclusions are also described in this paper.",
keywords = "double-closed loop control, fuzzy control, planar simplified model, spherical wheeled robot",
author = "Jian Jian and Meiling Wang and Ningyi Lv and Yi Yang and Kuan Zhang and Yu Li and Tong Liu",
note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014 ; Conference date: 10-12-2014 Through 12-12-2014",
year = "2014",
doi = "10.1109/ICARCV.2014.7064518",
language = "English",
series = "2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1386--1391",
booktitle = "2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014",
address = "United States",
}