Sensorless Unmanned Bicycle Robot

Abstract

In this work, we present a new approach for designing an autonomous bicycle robot. It is well known that bicycles can be laterally stable at certain velocities. This means that if the steering bar remains free to rotate, a bicycle can be designed so that it naturally steers in a way that corrects for deviations, keeping the bicycle upright. However, to the best of our knowledge this desirable property is not taken advantage of in previous works, since connecting a standard actuator to the steering bar, which is required in order to guide the bicycle to a desired direction, does not allow the steerer to be free to rotate. In this work we propose a unique actuation mechanism that allows guidance while keeping the steerer free to rotate, thus preserving the natural stability of the bicycle. Since the bicycle is mechanically stable there is no need for a low level controller, and thus, no need for sensors and sensor fusion algorithms. We demonstrate the concept with experiments performed on a 3D printed bicycle powered by a small electric motor and guided remotely. We provide all the CAD files and software in hope that it will be used by additional researchers in the field, and advance the frontiers of autonomous systems.