A single wheel, gyroscopically stabilized robot
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 4, pp. 3658 - 3663, April, 1996
Abstract
We are developing a novel concept for mobility, and studying fundamental research issues on dynamics and control of the mobile robot. The robot, called Gyrover, is a single-wheel vehicle with an internal gyroscope that provides mechanical stabilization and steering capability. This configuration conveys significant advantages over multi-wheel, statically stable vehicles, including good dynamic stability and insensitivity to attitude disturbances; high manoeuvrability; low rolling resistance; ability to recover from falls; and amphibious capability. In this paper we present the design, analysis and implementation of the robot, as well as the associated research issues and potential applications.
BibTeX
@conference{Brown-1996-14112,author = {H. Benjamin Brown and Yangsheng Xu},
title = {A single wheel, gyroscopically stabilized robot},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {1996},
month = {April},
volume = {4},
pages = {3658 - 3663},
}
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