Modeling of a Balancing Robot on a Rolling Pipe

Abstract

In this paper, we describe the modeling of a balancing robot. The balancing robot is a biped stepping robot, and aims to balance on a rolling pipe. The motion equations of the balancing robot and rolling pipe are formulated in order to grasp the robot motion and to design a stable robot controller for balancing on the pipe. Particularly, the calculation procedure of the contact forces is proposed, which generates between the robot foot and the pipe surface. Finally, simulation results are shown based on the formulation.