Analysis of actuation and dynamic balancing for a single-wheel robot
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 3, pp. 1789 -1794, October, 1998
Abstract
We develop a dynamic model of the steering and actuation mechanism of Gyrover, a single-wheel robot which can be considered as a single wheel, actuated through a spinning flywheel attached through a two-link manipulator at the wheel bearing and a drive motor. The spinning flywheel acts as a gyroscope to stabilize the robot, and at the same time it can achieve steering. We develop a dynamic model, investigate its motion equation, and nonholonomic constraints, and present a simulation study. The work is significant in understanding this type of dynamically stable but statically unstable system, and in developing automatic control of the system.
BibTeX
@conference{Xu-1998-14785,author = {Yangsheng Xu and Kwok Wai Au and G. C. Nandy and H. Benjamin Brown},
title = {Analysis of actuation and dynamic balancing for a single-wheel robot},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {1998},
month = {October},
volume = {3},
pages = {1789 -1794},
}
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