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RI | Publications | Analysis of actuation and dynamic balancing for a single-wheel robot
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Text only version of this site
Analysis of actuation and dynamic balancing for a single-wheel robot
Y. Xu, K.W. Au, G.C. Nandy, and H. Brown
Intelligent Robots and Systems, Vol. 3, October, 1998, pp. 1789 -1794.
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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: VASC
Associated labs/groups: Advanced Mechatronics Lab and CREATE: Community Robotics, Education and Technology Empowerment
Associated project: Gyrover
| Text Reference |
Y. Xu, K.W. Au, G.C. Nandy, and H. Brown, "Analysis of actuation and dynamic balancing for a single-wheel robot," Intelligent Robots and Systems, Vol. 3, 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",
month = "October",
year = "1998",
volume = "3",
pages = "1789 -1794"
}