DocumentCode
2402452
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
Volume
2
fYear
2002
fDate
2002
Firstpage
2043
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on
Print_ISBN
0-7803-7398-7
Type
conf
DOI
10.1109/IRDS.2002.1044056
Filename
1044056
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