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.

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页码：99 / 118

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