The Robotics Institute

Carnegie Mellon Robotics Institute

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

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",
}

The Robotics Institute

Menu