Attitude Control During the Flight Phase of Ramp Jump for Single-Track Two-Wheeled Robots
Boyi Wang, Feilong Jing, Yang Deng, Zhang Chen, Bin Liang · 2024
For the ramp jump of single-track two-wheeled (STTW) robots, an appropriate landing attitude is critical for safely accomplishing the task. In this paper, to address the issue of attitude adjustment during the flight phase, we propose an inverse kinematics-based receding horizon controller. First, we derive the kinematics of the robot based on angular momentum conservation (AMC) and analyze the region of the adjustable takeoff attitude, considering the maximum steering angle and avoiding singularities. Secondly, we design an AMC-based planning method to generate trajectories for the actuators. The planner is then integrated into a receding horizon controller for attitude control during the flight phase. Finally, the effectiveness and robustness of the proposed method are validated through Webots simulations.