Title :
Dynamics of a rolling disk and a single wheel robot on an inclined plane
Author :
Xu, Yangsheng ; Sun, Loi Wah
Author_Institution :
Dept. of Mech. & Autom. Eng., Chinese Univ. of Hong Kong, Shatin, China
Abstract :
The dynamics of a rolling disk and a single wheel robot on an incline are derived and established respectively. The condition of rolling up is addressed. If the condition of rolling up is violated, a methodology of tracking is proposed. The system is stabilized around the position perpendicular to the surface. Simulation results are also provided
Keywords :
mobile robots; path planning; robot dynamics; inclined plane; rolling disk dynamics; rolling up; single wheel robot; tracking; Equations; Flywheels; Gravity; Lagrangian functions; Mobile robots; Robotics and automation; Spinning; Vehicle dynamics; Vehicles; Wheels;
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
0-7803-6348-5
DOI :
10.1109/IROS.2000.894704
