A self-stabilising multipurpose single-wheel robot

被引：0

作者：

Buratowski, Tomasz ^{[1
]}

Cieslak, Patryk ^{[1
]}

Giergiel, Mariusz ^{[1
]}

Uhl, Tadeusz ^{[1
]}

机构：

[1] AGH University of Science and Technology, Department of Robotics and Mechatronics, Kraków, Poland

来源：

Journal of Theoretical and Applied Mechanics (Poland) | 2012年 / 50卷 / 01期

关键词：

Building a prototypes - Control design - Control strategies - Mechanical structures - Patent protection - Self-stabilisation - Single-wheel robots - Theoretical modeling;

D O I：

暂无

中图分类号：

学科分类号：

摘要：

This article presents a design process of a single-wheel robot which con-sists of building a theoretical model, designing a mechanical structure, simulating the design, building a prototype and testing it. It describes the control strategy for this vehicle, developed during the simulation pro-cess, and how it works for a ready built prototype. It mainly focuses on the self-stabilisation problem encountered in the single-wheel structure and shows the test rig results for this case. The design of the robot is under patent protection.

引用

下载

页码：99 / 118

共 50 条

[31] Self-Stabilising Byzantine Clock Synchronisation Is Almost as Easy as Consensus
Lenzen, Christoph
Rybicki, Joel
JOURNAL OF THE ACM, 2019, 66 (05)
[32] Near-optimal self-stabilising counting and firing squads
Lenzen, Christoph
Rybicki, Joel
DISTRIBUTED COMPUTING, 2019, 32 (04) : 339 - 360
[33] Self-stabilising target counting in wireless sensor networks using Euler integration Self-stabilising target counting in wireless sensor networks using Euler integration
Pianini, Danilo
Dobson, Simon
Viroli, Mirko
2017 IEEE 11TH INTERNATIONAL CONFERENCE ON SELF-ADAPTIVE AND SELF-ORGANIZING SYSTEMS (SASO), 2017, : 11 - 20
[34] Efficient Engineering of Complex Self-Organising Systems by Self-Stabilising Fields
Viroli, Mirka
Beal, Jacob
Damiani, Permed
Pianini, Danilo
2015 IEEE NINTH INTERNATIONAL CONFERENCE ON SELF-ADAPTIVE AND SELF-ORGANIZING SYSTEMS - SASO 2015, 2015, : 81 - 90
[35] Adaptive Control of a Gyroscopically Stabilized Pendulum and Its Application to a Single-Wheel Pendulum Robot
Zhu, Yanhe
Gao, Yongsheng
Xu, Changhua
Zhao, Jie
Jin, Hongzhe
Lee, Jangmyung
IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2015, 20 (05) : 2095 - 2106
[36] Comparison of wheel load application methods in single-wheel testbeds
Daca, Adriana
Nassiraei, Amir Ali Forough
Tremblay, Dominique
Skonieczny, Krzysztof
JOURNAL OF TERRAMECHANICS, 2022, 99 : 35 - 55
[37] Model Checking Self-Stabilising in Embedded Systems with Linear Temporal Logic
Marah, Rim
EL Hibaoui, Abdelaaziz
INTERNATIONAL JOURNAL OF ADVANCED COMPUTER SCIENCE AND APPLICATIONS, 2015, 6 (08) : 256 - 261
[38] A Minimum Phase Modeling Approach to Disturbance Observer Design for Balancing Control of a Single-wheel Robot
Lee, Sang D.
Jung, Seul
2018 15TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV), 2018, : 42 - 47
[39] Experimental Studies on Roll Control of a Vertical Configuration of a Gimbal System inside a Single-wheel Robot
Lee, S. D.
Jung, Seul
PROCEEDINGS OF THE IECON 2016 - 42ND ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 2016, : 548 - 552
[40] Experimental Verification of Stability Region of Balancing a Single-wheel Robot: an Inverted Stick Model Approach
Lee, S. D.
Jung, S.
IECON 2015 - 41ST ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 2015, : 4556 - 4561

← 1 2 3 4 5 →