Development of Robotic Unicycles-Reference-Cited by-同舟云学术

Development of Robotic Unicycles

Published:2014-10-20 Issue:5 Volume:26 Page:540-549
ISSN:1883-8049
Container-title:Journal of Robotics and Mechatronics
language:en
Short-container-title:J. Robot. Mechatron.

Author:

Suzuki Hisanobu, ,Moromugi Shunji,Okura Takeshi, ,

Abstract

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260005/02.jpg"" width=""300"" />Robotic Unicycle in stable driving</div> This paper introduces the first successful development of a robotic unicycle imitating a human rider. The robot consists of a body supported on a single wheel, a closed linkage on each side of the body to drive the wheel, and a rotor on the top. The effects of the closed link, gyro effect, centrifugal force, and reaction torque of the rotor on the robot’s stability and direction were investigated in simulations and experiments. Stability and drive principles of the robotic unicycle were proposed. The unicycle accelerated or decelerated because of the location of the compound center of gravity. Direction control was proposed based on the proposed acceleration control rule and a specified yaw angular velocity. Using that rule, drive simulations of tracing a circle and a “number 8” were conducted. The computer simulations demonstrated stable driving of the robotic unicycle. The experimental evaluation, velocity, and direction control of the robot were also studied. The principles of postural stability and driving of the robotic unicycle were clarified. </span>

Publisher

Fuji Technology Press Ltd.

Subject

Electrical and Electronic Engineering,General Computer Science

Reference15 articles.

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