Impulsive dynamics and stabilization of a single wheel robot

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摘要 The impulsive motion of a dynamically stabilized robot—Gyrover, which is a single-wheel gyroscopically stabilized robot is studied. A method based on the D’Alembert-Lagrange principle is proposed to develop the impulsive dynamic model of the single wheel robot. This method that can be used to find ways to investigate a single wheel mobile robot rolling on a rough terrain is tested using the experimental platform Gyrover. The conditions of falling over without actuators are addressed. Simulations that validate the analysis are provided as well.

作者 Ou Yongsheng Wu Xinyu Xu Yangsheng

机构地区 Department of Mechanical and Automation Engineering Shenzhen Institutes of Advanced Technology

出处《Engineering Sciences》 EI 2011年第1期76-83,共8页 中国工程科学(英文版)

基金 supported by the Knowledge Innovation Program of the Chinese Academy of Sciences(No.KGCX2-YW-152 No.KGCX2-YW-156) Key Laboratory of Robotics and Intelligent System,Guangdong Province(No.2009A060800016) Shenzhen Fundamental Research Program(No.JC200903170431A) China Postdoctoral Science Foundation(No.20090460532)

关键词 impulsive dynamics single wheel robot dynamically stabilized system

分类号 TP242 [自动化与计算机技术—检测技术与自动化装置] TM712 [电气工程—电力系统及自动化]

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Impulsive dynamics and stabilization of a single wheel robot

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