The mono-wheel robot with dynamic stabilisation

被引：14

作者：

Cieslak, Patryk ^{[1
]}

Buratowski, Tomasz ^{[1
]}

Uhl, Tadeusz ^{[1
]}

Giergiel, Mariusz ^{[1
]}

机构：

[1] AGH Univ Sci & Technol, Dept Robot & Mechatron, PL-30059 Krakow, Poland

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2011年 / 59卷 / 09期

关键词：

One-wheel robot; Nonholonomic mono-wheel robot; Stabilization of the mono-wheel robot; Control of the mono-wheel robot; Mono-wheel robot design;

D O I：

10.1016/j.robot.2011.05.002

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This article presents a design process of a mono-wheel robot which consists 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 process, and how it works for a ready built prototype. It mainly focuses on the self-stabilisation problem encountered in a mono-wheel structure and shows the test rig results for this case. The design of the robot is under patent protection. (C) 2011 Elsevier B.V. All rights reserved.

引用

页码：611 / 619

页数：9

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