Dynamic Mobility with Single-Wheel Configuration

Author:

Xu Yangsheng1,Brown H. Ben2,Au Kwok Wai3

Affiliation:

1. Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, The Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, 15213 USA

2. The Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, 15213 USA

3. Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong

Abstract

This paper presents a novel concept of mobility that provides dynamic stability and rapid locomotion. The concept, called Gyrover, is a single-wheel, gyroscopically stabilized robot that can be considered as a single wheel actuated by a spinning flywheel attached to a two-link manipulator at the wheel bearing and drive motor. The spinning flywheel acts as a gyroscope to stabilize the robot, and it can be tilted to achieve steering. This configuration conveys significant advantages over multiwheel, statically stable vehicles, including good dynamic stability and insensitivity to attitude disturbances, high maneuverability, low rolling resistance, ability to recover from falls, and amphibious capability. In this paper, the authors present the robot concept, three prototypes of the design, and system implementation. The authors study the robot’s nonholonomic constraints and the stabilizing effect of the flywheel on the system through simulation and experiments.

Publisher

SAGE Publications

Subject

Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modeling and Simulation,Software

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1. Design and Control of a Sphere Robot Using a Control Moment Gyroscope Actuator for Navigation;International Journal of Control, Automation and Systems;2020-10-21

2. Awakening strategies from a sleeping mode to a balancing mode for a sphere robot;International Journal of Control, Automation and Systems;2017-12

3. A Polynomial Formulation of Inverse Kinematics of Rolling Contact;Journal of Mechanisms and Robotics;2015-11-01

4. Development and control of a single-wheel robot: Practical Mechatronics approach;Mechatronics;2013-09

5. Experimental Studies of Neural Network Control for One-Wheel Mobile Robot;Journal of Control Science and Engineering;2012

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