Title :
Balance control of a single wheel robot
Author :
Ou, Yongsheng ; Xu, Yangsheng
Author_Institution :
Dept. of Autom. & Comput.-Aided Eng., Chinese Univ. of Hong Kong, Shatin, China
Abstract :
The single wheel, gyroscopically stabilized robot, Gyrover, is dynamically stable but statically unstable, with both first-order and second-order nonholonomic constraints. In this paper, based on the dynamic model of the robot, we first study the two classes of nonholonomic constraints associated with the system. We then propose control laws for balance control in different cases.
Keywords :
mobile robots; robot dynamics; stability; Gyrover; balance control; dynamically stable robot; first-order nonholonomic constraints; gyroscopically stabilized robot; second-order nonholonomic constraints; single wheel robot; statically unstable robot; unicycle-type robot; Automatic control; Bicycles; Councils; Mobile robots; Nonlinear equations; Prototypes; Robot kinematics; Robotics and automation; Stability; Wheels;
Conference_Titel :
Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7398-7
DOI :
10.1109/IRDS.2002.1044056
