| ON IMPULSIVE DYNAMICS AND STABILIZATION OF A SINGLE WHEEL ROBOT |
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| 作者姓名： | Ou Yongsheng Wu Xinyu Xu Yangsheng |
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| 作者单位： | Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China;Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, Guangdong 518055, China |
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| 基金项目： | Guangdong Province，Shenzhen Fundamental Research Program，China Postdoctoral Science Foundation |
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| 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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| 关 键 词： | impulsive dynamics single wheel robot dynamically stabilized system |
Impulsive dynamics and stabilization of a single wheel robot |
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| Ou Yongsheng,Wu Xinyu,Xu Yangsheng.ON IMPULSIVE DYNAMICS AND STABILIZATION OF A SINGLE WHEEL ROBOT[J].Engineering Sciences,2011,9(1):76-83. |
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| Authors: | Ou Yongsheng Wu Xinyu Xu Yangsheng |
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| Institution: | Ou Yongsheng1,2,Wu Xinyu1,Xu Yangsheng1,2 (1. Department of Mechanical and Automation Engineering,The Chinese University of Hong Kong,Hong Kong,China,2. Shenzhen Institutes of Advanced Technology,Chinese Academy of Sciences,Shenzhen,Guangdong 518055,China) |
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| Abstract: | 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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| Keywords: | impulsive dynamics single wheel robot dynamically stabilized system |
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