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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Bibliographic Details
Main Author:	Saleh, Tanveer
Format:	Conference or Workshop Item
Language:	English
Published:	2004
Subjects:	TA349 Mechanics of engineering. Applied mechanics
Online Access:	http://irep.iium.edu.my/30940/ http://irep.iium.edu.my/30940/1/Gyroscopically_stabilized_robot_t.Saleh.pdf

id	iium-30940
recordtype	eprints
spelling	iium-309402013-08-06T07:14:36Z http://irep.iium.edu.my/30940/ Design of a gyroscopically stabilized single-wheeled robot Saleh, Tanveer TA349 Mechanics of engineering. Applied mechanics 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. 2004-12 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/30940/1/Gyroscopically_stabilized_robot_t.Saleh.pdf Saleh, Tanveer (2004) Design of a gyroscopically stabilized single-wheeled robot. In: Conference on Robotics, Automation and Mechatronics, 1 - 3 December 2004, Singapore.
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TA349 Mechanics of engineering. Applied mechanics
spellingShingle	TA349 Mechanics of engineering. Applied mechanics Saleh, Tanveer Design of a gyroscopically stabilized single-wheeled robot
description	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.
format	Conference or Workshop Item
author	Saleh, Tanveer
author_facet	Saleh, Tanveer
author_sort	Saleh, Tanveer
title	Design of a gyroscopically stabilized single-wheeled robot
title_short	Design of a gyroscopically stabilized single-wheeled robot
title_full	Design of a gyroscopically stabilized single-wheeled robot
title_fullStr	Design of a gyroscopically stabilized single-wheeled robot
title_full_unstemmed	Design of a gyroscopically stabilized single-wheeled robot
title_sort	design of a gyroscopically stabilized single-wheeled robot
publishDate	2004
url	http://irep.iium.edu.my/30940/ http://irep.iium.edu.my/30940/1/Gyroscopically_stabilized_robot_t.Saleh.pdf
first_indexed	2023-09-18T20:45:10Z
last_indexed	2023-09-18T20:45:10Z
_version_	1777409626315161600

Design of a gyroscopically stabilized single-wheeled robot

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