Analysis of actuation and dynamic balancing for a single-wheel robot

Yangsheng Xu, Kwok Wai Au, G. C. Nandy and H. Benjamin Brown
Conference Paper, Intelligent Robots and Systems, Vol. 3, pp. 1789 -1794, October, 1998

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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.

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},
year = {1998},
month = {October},
volume = {3},
pages = {1789 -1794},
} 2017-09-13T10:49:16-04:00