Design of a gyroscopically stabilized single-wheeled robot
Saleh, T.
Yap Haw Hann
Zhu Zhen
Al Mamun, A.
Prahlad, V.
Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore;
This paper appears in: Robotics, Automation and Mechatronics, 2004 IEEE Conference on
Publication Date: 1-3 Dec. 2004
Volume: 2,
On page(s): 904- 908 vol.2
ISSN:
ISBN: 0-7803-8645-0
INSPEC Accession Number: 8426347
Current Version Published: 2005-06-13
Abstract
Conventional design of a mobile robot ensures its stability by keeping the gravity vector through the center of mass inside the structure's polygon of support determined by the contact points between the structure and the ground. This assumption of quasi-static stability fails to hold when the robot moves at high speed as the inertial forces become significant compared to the static gravitational force. On the other hand, the momentum of the moving structure can be exploited to enhance stability if it is dynamically controlled. This principle was exploited to build a gyroscopically stabilized single-wheeled robot by researchers at Carnegie Melon University (CMU). Our design follows the same principle for stability but uses a different mechanism to effect forward and reverse motion.
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