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Gyrover
Head: H. Benjamin Brown
Contact: H. Benjamin Brown (hbb@cs.cmu.edu)

Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

Associated center: VASC
Associated labs/groups: Advanced Mechatronics Lab and CREATE: Community Robotics, Education and Technology Empowerment

For more information, see this project's homepage.

Gyrover is a single-wheel robot that is stabilized and steered by means of an internal, mechanical gyroscope. Gyrover can stand and turn in place, move deliberately at low speed, climb moderate grades, and move stably on rough terrain at high speeds. [animated gif] It has a relatively large rolling diameter which facilitates motion over rough terrain; a single track and narrow profile for obstacle avoidance; and is completely enclosed for protection from the environment. We are presently developing a 4th generation version of Gyrover that has improved control torque, better stability and longer run time.

Gyrover Movies

5.6 MB mpeg

4.2 MB Media Player

Name - Title <Email Address>
• [Home] H. Benjamin Brown - Project Scientist <hbb@cs.cmu.edu>

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• Control of the Gyrover: a single-wheel gyroscopically stabilized robot
  E. Ferreira, S. Tsai, C. Paredis, and H. Brown
  Advanced Robotics, Vol. 14, No. 6, June, 2000, pp. 459 - 475.

• Control of the Gyrover: A Single-Wheel Gyroscopically Stabilized Robot
  S. Tsai, E. Ferreira, and C. Paredis
  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99), Vol. 1, October, 1999, pp. 179 - 184. [Abstract]
  Download: pdf [264 KB] copyrighted

• Decoupled dynamics and stabilization of single wheel robot
  K.W. Au and Y. Xu
  Proceedings of the 1999 IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS '99), Vol. 1, October, 1999, pp. 197 - 203. [Abstract]
  Download: pdf [447 KB] copyrighted

• Modeling human strategy in controlling a dynamically stabilized robot
  Y. Xu, W. Yu, and K.W. Au
  Proceedings of the 1999 IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS '99), Vol. 1, October, 1999, pp. 507 - 512. [Abstract]
  Download: pdf [418 KB] copyrighted

• Dynamic mobility with single-wheel configuration
  Y. Xu, H. Brown, and K.W. Au
  International Journal of Robotics Research, Vol. 18, No. 7, July, 1999, pp. 728 - 738. [Abstract]
  Download: pdf [135 KB], ps.gz [178 KB] copyrighted

• Analysis of actuation and dynamic balancing for a single-wheel robot
  Y. Xu, K.W. Au, G.C. Nandy, and H. Brown
  Intelligent Robots and Systems, Vol. 3, October, 1998, pp. 1789 -1794. [Abstract]
  Download: pdf [399 KB] copyrighted

• Dynamic model of a gyroscopic wheel
  G.C. Nandy and Y. Xu
  Proc. 1998 IEEE Int'l Conference on Robotics and Automation (ICRA '98), Vol. 3, May, 1998, pp. 2683 - 2688. [Abstract]
  Download: pdf [482 KB] copyrighted

• A single-wheel, gyroscopically stabilized robot
  H. Brown and Y. Xu
  IEEE Robotics and Automation Magazine, Vol. 4, No. 3, September, 1997, pp. 39-44. [Abstract]
  Download: pdf [1477 KB] copyrighted

• A single wheel, gyroscopically stabilized robot
  H. Brown and Y. Xu
  Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 4, April, 1996, pp. 3658-3663. [Abstract]
  Download: pdf [695 KB] copyrighted