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Stability control of an Amphibious single wheel robot

Marzban, M ; Sharif University of Technology | 2008

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  1. Type of Document: Article
  2. DOI: 10.1115/IMECE2007-44020
  3. Publisher: 2008
  4. Abstract:
  5. Single wheel robots are typically those kinds of robots which contain all the necessary mechanizations, namely the stabilization and driving mechanizations, within a shell-liked housing appearing analogous to a wheel. These robots have proved to be useful in various fields of industry due to their advantages of giving high instant acceleration and maintaining high cruise speeds for considerable amount of time in addition to being compact and small. It is a sharp-edged wheel actuated by a spinning flywheel for steering and a drive motor for propulsion. The spinning flywheel acts as a gyroscope to stabilize the robot and it can be tilted to achieve steering. In this paper first the kinematics of a single wheel robot, like Gyrover, in water is considered and then a simple mechanism for its movement in water is proposed. After hydrodynamic analysis of the robot a complete dynamics model is designed with Lagrange energy method. Then a stabilizer controller is designed to balance the robot with nonlinear control approach. For simplicity the added mass effect in hydrodynamic analysis, has been neglected. This complete model can be used for examining the behavior of the robot in designing a controller. Copyright © 2007 by ASME
  6. Keywords:
  7. Amphibious robots ; Dynamically stabilized robots ; Single wheel robots ; Added mass effects ; Amphibious robot ; Dynamics modeling ; Energy method ; Hydrodynamic analysis ; Non linear control ; Single-wheel robots ; Stability control ; Flywheels ; Gyroscopes ; Speed control ; Stability ; Controllers ; Fluid dynamics ; Hydrodynamics ; Machinery ; Mechanization ; Wheels ; Mobile robots ; Robots
  8. Source: ASME International Mechanical Engineering Congress and Exposition, IMECE 2007, Seattle, WA, 11 November 2007 through 15 November 2007 ; Volume 9 PART B , 2008 , Pages 1465-1472 ; 0791843033 (ISBN); 9780791843031 (ISBN)
  9. URL: https://asmedigitalcollection.asme.org/IMECE/proceedings-abstract/IMECE2008/48722/545/335370