Impulsive dynamics and stabilization of a single wheel robot

被引：0
|
作者：
Ou Yongsheng1
2. Shenzhen Institutes of Advanced Technology
机构：
来源：
Engineering Sciences | 2011年 / 9卷 / 01期
基金：
中国博士后科学基金;
关键词：
impulsive dynamics; single wheel robot; dynamically stabilized system;
D O I：
暂无
中图分类号：
TP242 [机器人];
学科分类号：
1111 ;
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.
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页码：76 / 83
页数：8
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