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single-wheel-robots
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Positioning and tracking control of an amphibious single wheel robot
, Article 2008 ASME International Mechanical Engineering Congress and Exposition, IMECE 2008, Boston, MA, 31 October 2008 through 6 November 2008 ; Volume 11 , 2009 , Pages 545-551 ; 9780791848722 (ISBN) ; Alizadeh, D ; Sharif University of Technology
2009
Abstract
Amphibious single wheel robot consists of 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 also can be tilted to achieve steering. In this paper, the kinematics of a single wheel robot in water, Gyrover, is analyzed and then a simple mechanism for driving it is proposed. In previous studies, Lagrange approach is used for hydrodynamic modeling of the robot. A nonlinear position controller is designed to bring the robot to any desired position. Based on the designed controller, a tracking controller is augmented to the robot. For simplicity the added mass effect has been...
Stability control of an Amphibious single wheel robot
, Article 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) ; Alasty, A ; Sharif University of Technology
2008
Abstract
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...
Introducing GyroSym: a single-wheel robot
, Article International Journal of Dynamics and Control ; Volume 8, Issue 2 , 2020 , Pages 404-417 ; Abedin Nasab, M. H ; Liu, G ; Sharif University of Technology
Springer
2020
Abstract
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...