Design of a gyroscopically stabilized single-wheeled robot
Conventional design of mobile robot ensures its stability by keeping the gravity vector through the center of mass inside the structure's polygon of support determined by the contact points between the structure and the ground. This assumption of quasi-static stability fails to hold when th...
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2004
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| Online Access: | http://irep.iium.edu.my/30940/ http://irep.iium.edu.my/30940/1/Gyroscopically_stabilized_robot_t.Saleh.pdf |
| Summary: | Conventional design of mobile robot ensures its
stability by keeping the gravity vector through the center of mass
inside the structure's polygon of support determined by the
contact points between the structure and the ground. This
assumption of quasi-static stability fails to hold when the robots
moves at high speed as the inertial forces become significant
compared to the static gravitational force. On the otber hand, the
momentum of the moving structure can be exploited to enhance
stability if it is dynamically controlled. This principle was used
exploited to build a gyroscopically stabilized single-wheeled robot
by the researchers at Carnegie Melon University (CMU). Our
design follows the same principle for stability but uses a different
mechanism to effectuate the forward and reverse motion. |
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