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Un marco de control unificado para robots de autoequilibrio: Abordar las variaciones del modelo en plataformas de
Guiyang Xin1,2, Boyu Jin3, Chen Liu4
1State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China.
Sensors (Basel, Switzerland)
|December 11, 2025
Resumen
Este estudio escaló pequeños robots de autoequilibrio a una versión más grande que transporta personas. El marco de control unificado garantiza la estabilidad y la agilidad para aplicaciones de transporte personal.
Área de la Ciencia:
- Robótica
- Ingeniería de Sistemas de Control
Sus antecedentes:
- Los robots de autoequilibrio ofrecen una alta agilidad debido a su diseño compacto.
- Los robots existentes de ruedas y patas muestran potencial, pero escalarlos para el transporte personal tiene un mayor impacto.
Objetivo del estudio:
- Desarrollar un pequeño robot de autoequilibrio y escalarlo a una silla de ruedas de autoequilibrio más grande que transporta personas.
- Aplicar un marco de control unificado a ambas versiones del robot para el equilibrio y la dirección.
Principales métodos:
- Un marco de control unificado que utiliza un regulador lineal cuadrático (LQR) con actualización de modelo en línea para el equilibrio y un controlador proporcional-derivativo (PD) para la dirección.
- Módulos específicos de la plataforma, incluido un controlador de patas dedicado para maniobras dinámicas en el robot más pequeño.
Principales resultados:
- El marco de control unificado se aplicó con éxito tanto al robot pequeño como al grande de autoequilibrio.
- El controlador LQR aseguró el equilibrio, mientras que los módulos específicos de la plataforma permitieron maniobras avanzadas como saltar en el robot más pequeño.
Conclusiones:
- Los sistemas de control desarrollados son efectivos tanto para robots de autoequilibrio pequeños como grandes.
- El robot escalado demuestra potencial como silla de ruedas de autoequilibrio para el transporte personal.
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