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Control of Single Wheel Robots

Author: Yongsheng Ou; Yangsheng Xu
Publisher: Berlin Heidelberg : Springer-Verlag., 2005.
Series: Springer tracts in advanced robotics, 20.
Edition/Format:   eBook : Document : EnglishView all editions and formats
Publication:Springer e-books
Summary:
This monograph presents a novel concept of a mobile robot, which is a single-wheel, gyroscopically stabilized robot. The robot is balanced by a spinning wheel attached through a two-link manipulator at the wheel bearing, and actuated by a drive motor. This configuration conveys significant advantages including insensitivity to attitude disturbances, high maneuverability, low rolling resistance, ability to recover  Read more...
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Details

Genre/Form: Electronic books
Material Type: Document, Internet resource
Document Type: Internet Resource, Computer File
All Authors / Contributors: Yongsheng Ou; Yangsheng Xu
OCLC Number: 228158747
Description: 1 online resource (: v.: digital.
Contents: Introduction --
Kinematics and Dynamics --
Model-based Control --
Learning-Based Control --
Further Topics on Learning-based Control --
Shared Control --
Conclusions.
Series Title: Springer tracts in advanced robotics, 20.
Responsibility: edited by Yongsheng Ou, Yangsheng Xu.
More information:

Abstract:

This monograph presents a novel concept of a mobile robot, which is a single-wheel, gyroscopically stabilized robot. The robot is balanced by a spinning wheel attached through a two-link manipulator at the wheel bearing, and actuated by a drive motor. This configuration conveys significant advantages including insensitivity to attitude disturbances, high maneuverability, low rolling resistance, ability to recover from falls, and amphibious capability for potential applications on both land and water. This book focuses on the dynamics and control aspects, including modeling, model-based control, learning-based control, and shared control with human operators. This novel mobile robot concept opens up the science of dynamically stable systems with a single wheel configuration. The book also presents considerations in concept, design implementations, and kinematics modeling, as well as experimental results from various algorithms and cases. The system is a nonholonomic, underactuated, and highly nonlinear system, so this book is appropriate for scientists and engineers with interests in mobile robot, dynamics and control, as a research reference and postgraduate textbook.

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