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uBot-2

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The UMASS uBot is a experimental research platform for studying distributed control architectures for multiple mobile platforms.

The ubot is a platform that was custom build at UMASS, Amherst. uBot-2 is capable of balancing on two wheels. To accomplish balancing control, inertial sensing was incorporated by an accelerometer and gyroscope IMU board. The uBot was then modeled as an inverted pendulum using the State Space approach. A Linear Quadratic Regulator (LQR) was then used to solve the control problem.

The videos below demonstrate the balancing uBot in action.

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Videos:

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Meet the uBot-2! (m1v)

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uBot-2 rides a Segway RMP, both are balancing. (m1v)

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uBot-2 demonstrates driving on rough terrain and recovery. (m1v)

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uBot-2 serves as a dynamically stable support for the lightbulb task. (avi)

Rosenstein, Michael, Robert Platt, Patrick Deegan, John Sweeney, Oliver Brock, Andrew Fagg, and Roderic Grupen. Haptic Coupling of Dexterous Manipulation and Dynamic Mobility. In Video Proceedings of the IEEE-RAS/RSJ International Conference on Humanoid Robots, Los Angeles, USA, November 2004.

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