Modeling and Control of Casterboard Robot

Abstract In this paper, we propose a robotic model of a casterboard, which is a commercial variants of skateboards with twistable footplates and passive inclined caster wheels. We then derive its mathematical model in the form of nonlinear state equation; this system is of much interest from both mechanical and control points of view as a new challenging example of nonholonomic mechanics. Based on the observation on preceding works concerning locomotion control for nonholonomic systems, we propose a locomotion control method with sinusoidal periodic control to realize forwarding and turning locomotion. The proposed idea is examined by simulations and physical experiments using the prototype robot developed by the authors. Moreover, we also examine the influences on the driving of the robot of parameter in the sinusoidal reference signals.