Dynamic model of a gyroscopic wheel

G.C. Nandy and Yangsheng Xu
Proc. 1998 IEEE Int'l Conference on Robotics and Automation (ICRA '98), May, 1998, pp. 2683 - 2688.

  • Adobe portable document format (pdf) (482KB)
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.

We develop a dynamic model of a gyroscopic wheel, an important component of Gyrover, a single-wheel robot developed at Carnegie Mellon University. The Gyrover robot consists of a single wheel, and is actuated through a spinning flywheel attached through a two-link manipulator at the wheel bearing. The flywheel can be tilted to achieve steering, and can be driven forwards and backwards to accelerate the robot. This paper focuses on developing a 3D model of the wheel part of the Gyrover. We first describe the Gyrover robot. We then develop the dynamic model of the wheel through the Lagrangian constrained generalized formulation. Finally, we implement the resulting equations of motion and present simulation results for the unactuated Gyrover in the different gravitational environments of Earth, the Moon, and Mars.

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
G.C. Nandy and Yangsheng Xu, "Dynamic model of a gyroscopic wheel," Proc. 1998 IEEE Int'l Conference on Robotics and Automation (ICRA '98), May, 1998, pp. 2683 - 2688.

BibTeX Reference
   author = "G.C. Nandy and Yangsheng Xu",
   title = "Dynamic model of a gyroscopic wheel",
   booktitle = "Proc. 1998 IEEE Int'l Conference on Robotics and Automation (ICRA '98)",
   pages = "2683 - 2688",
   month = "May",
   year = "1998",
   volume = "3",