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Carnegie Mellon Robotics Institute

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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.

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center and National Robotics Engineering Center

Associated Lab(s) / Group(s): CREATE: Community Robotics, Education and Technology Empowerment and Advanced Mechatronics Lab

Associated Project(s): Gyrover

Text Reference

H. Benjamin Brown and Yangsheng Xu, "A single wheel, gyroscopically stabilized robot," Proceedings of the IEEE International Conference on Robotics and Automation, April, 1996, pp. 3658-3663.

BibTeX Reference

@inproceedings{Brown_1996_1280,
   author = "H. Benjamin Brown and Yangsheng Xu",
   title = "A single wheel, gyroscopically stabilized robot",
   booktitle = "Proceedings of the IEEE International Conference on Robotics and Automation",
   pages = "3658-3663",
   month = "April",
   year = "1996",
   volume = "4",
}

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