Loading...

Introducing GyroSym: a single-wheel robot

Forouhar, M ; Sharif University of Technology | 2020

402 Viewed
  1. Type of Document: Article
  2. DOI: 10.1007/s40435-019-00565-2
  3. Publisher: Springer , 2020
  4. Abstract:
  5. In this paper, GyroSym, a compact highly-stable single-wheel robot is introduced. Symmetrical flywheels have been used as its stabilization mechanism to keep the wheel upright. Thanks to the type of the flywheel used, the dynamic equations of the robot is simplified, the torque needed to tilt the spin axis is reduced, and the space is drastically minimized. Besides, a centrifugal clutch is used to smooth the motion of the robot in forward motion. Two controllers, fuzzy and fuzzy-Padé, were implemented based on their ability to stabilize the robot. Although both prevented the GyroSym from falling over, neither can entirely cancel out the effects of nonlinear behaviors that is present in the response, represented as high-frequency low domain noise. However, fuzzy-Padé demonstrated more efficient functionality, response, and mathematical simplicity which made it a perfect choice for stabilizing the GyroSym. Experimental results of a prototype have validated that of the mathematical analysis and simulations. © 2019, Springer-Verlag GmbH Germany, part of Springer Nature
  6. Keywords:
  7. Control ; Dynamics ; Fuzzy-Padé controllers ; Control engineering ; Controllers ; Flywheels ; Kinematics ; Wheels ; Dynamic equations ; Fuzzy controllers ; High frequency HF ; Highly stables ; Mathematical analysis ; Nonlinear behavior ; Single-wheel robots ; Stabilization mechanisms ; Robots
  8. Source: International Journal of Dynamics and Control ; Volume 8, Issue 2 , 2020 , Pages 404-417
  9. URL: https://link.springer.com/article/10.1007/s40435-019-00565-2