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A single-wheel, gyroscopically stabilized robot

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2 Author(s)
Brown, H.B., Jr. ; Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA ; Yangsheng Xu

We are developing a novel concept for mobility, and studying fundamental research issues on dynamics and control of the mobile robot. The robot, called Gyrover, is a single-wheel vehicle with an internal gyroscope that provides mechanical stabilization and steering capability. This configuration conveys significant advantages over multi-wheel, statically stable vehicles, including good dynamic stability and insensitivity to attitude disturbances; high manoeuvrability; low rolling resistance; ability to recover from falls; and amphibious capability. In this paper we present the design, analysis and implementation of the robot, as well as the associated research issues and potential applications

Published in:

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on  (Volume:4 )

Date of Conference:

22-28 Apr 1996