Decoupled dynamics and stabilization of single wheel robot

K.W. Au and Yangsheng Xu
Proceedings of the 1999 IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS '99), October, 1999, pp. 197 - 203.


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Abstract
Gyrover is a single wheel, gyroscopically stabilized robot. It is a single wheel connected to a spinning flywheel through a two-link manipulator at the wheel bearing. The nature of the system is nonholonomic, nonlinear and underactuated. In this paper, we first develop a dynamic model and decouple the model with respect to the control inputs. We then study the effect of the flywheel dynamics on stabilizing the single wheel robot via simulation and experiment study. Finally, we design a linear state feedback control law that stabilizes the single wheel robot toward/in different lean angles, so as to control the precession rate. Simulation and experiment study validated the proposed controller as well as the developed dynamic model.

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
K.W. Au and Yangsheng Xu, "Decoupled dynamics and stabilization of single wheel robot," Proceedings of the 1999 IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS '99), October, 1999, pp. 197 - 203.

BibTeX Reference
@inproceedings{Xu_1999_3523,
   author = "K.W. Au and Yangsheng Xu",
   title = "Decoupled dynamics and stabilization of single wheel robot",
   booktitle = "Proceedings of the 1999 IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS '99)",
   pages = "197 - 203",
   month = "October",
   year = "1999",
   volume = "1",
}