Project

Project Title: Development of a Hybrid Inverted Pendulum on wheels and Hopper based Dual Locomotion Assistive Robot

The project indents to develop hybrid inverted pendulum on wheels and legged hopping robot configuration to efficiently transit through uneven and irregular terrains. The project is sanctioned by Science and Engineering Research Board, Department of Science and Technology under Core Research Grant scheme – Rs.35,80,000/-

The objectives of the research are:

• The development of double inverted pendulum architecture of self-balancing robot.
• The development of a monoped hopping robot with 3 DOF and soft start-stop capability.
• Develop the optimal control scheme for the wheeled and legged robots discretely.
• Combine the architectures to effectively hop and roll as per the environmental needs.

Status: In progress
Agency & Scheme: SERB, DST
Duration: May 2024 to Apr 2027