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Carnegie Mellon Robotics Institute

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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.

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

Yangsheng Xu, Kwok Wai Au, G. C. Nandy, and H. Benjamin Brown, "Analysis of actuation and dynamic balancing for a single-wheel robot," Intelligent Robots and Systems, October, 1998, pp. 1789 -1794.

BibTeX Reference

@inproceedings{Xu_1998_3515,
   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 = "Intelligent Robots and Systems",
   pages = "1789 -1794",
   month = "October",
   year = "1998",
   volume = "3",
}

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