The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

The Gyrover is a single wheel gyroscopically stabilized mobile robot developed at Carnegie Mellon University. An internal pendulum serves as a counter weight for a drive motor that causes fore/aft motion, while a tilt-mechanism on a large gyroscope provides a mechanism for lateral actuation. In this paper we develop a detailed dynamic model for the Gyrover and use this model in an extended Kalman filter to estimate the complete state. A linearized version of the model is used to develop a state feedback controller. The design methodology is based on a semi-definite programming procedure which optimize the stability region subject to a set of linear matrix inequalities that capture stability and pole placement constraints. Finally, the controller design combined with the extended Kalman filter are verified on the prototype.

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

Shu-Jen Tsai, Enrique Ferreira, and Chris Paredis, "Control of the Gyrover: A Single-Wheel Gyroscopically Stabilized Robot," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99), October, 1999, pp. 179 - 184.

BibTeX Reference

@inproceedings{Tsai_1999_3118,
   author = "Shu-Jen Tsai and Enrique Ferreira and Chris Paredis",
   title = "Control of the Gyrover: A Single-Wheel Gyroscopically Stabilized Robot",
   booktitle = "Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99)",
   pages = "179 - 184",
   month = "October",
   year = "1999",
   volume = "1",
}

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