A consideration of human-unicycle model for unicycle operation analysis based on moment balancing point

Abstract

The unicycle operation is a good exercise for training of the sense of balance, the agility and the ability to coordinate the body according to situations. This paper aims to give an interpretation of the relationship between the moment balancing point (MBP) and the center of pressure (CP) in a riding a unicycle from the human motion viewpoint. This paper shows derivations of Human-Unicycle model motion equations according to the Projection Method, and represents the relationship between the MBP and the CP of the the model by considering structure and constraint reaction forces of the model.

Energy Based Position Control of Jansen Walking Robot

“…In our previous work [13], we derived a dynamic model of the whole Theo Jansen platform by independent modeling of the dynamics of both forepaw and back paw while consolidating the two models [13] [17]. The schematic figure and coordinate system of the forepaw are illustrated in Fig.…”

“…Schematic figure of a four legged jansen linkage mechanism method adopted in this work was first proposed by W. Blajer et al in [14]. In comparison to the conventional approaches of Lagrange's, Gibbs-Appel, and Kane's, the projection method utilized in this paper has been observed to be intuitive in nature and compact [15]- [17]. The work presented in this paper is part of our ongoing efforts in developing a nested reconfigurable Theo Jansen mechanism which is capable of both inter-and intra-reconfiguration capabilities.…”

Dynamic Modeling and Nonlinear Position Control of a Quadruped Robot with Theo Jansen Linkage Mechanisms and a Single Actuator

“…In this paper, the projection method [18][19][20] is applied to derive the complete dynamic model of a four-legged robot driven by a single actuator and composed of Theo Jansen mechanisms that was originally proposed by Studer [21]. In comparison with the conventional approaches, Lagrange's, Gibbs-Appel, and Kane's, for example, the projection method has been observed to be more intuitive in nature and compact [18,19,22]. By using this approach, the linkage mechanism can be assumed as a simple holonomic system and the model is derived by focusing on its constraints [22].…”

“…In comparison with the conventional approaches, Lagrange's, Gibbs-Appel, and Kane's, for example, the projection method has been observed to be more intuitive in nature and compact [18,19,22]. By using this approach, the linkage mechanism can be assumed as a simple holonomic system and the model is derived by focusing on its constraints [22]. The dynamic model of the whole system can be established by separating the system into a few subcomponents and then integrating their dynamic models [23].…”

Balancing and Velocity Control of a Unicycle Robot Based on the Dynamic Model

“…As the applications of a unicycle robot, Murata manufacturing company exhibited a robot riding unicycle named "Murata Girl" in September 2008 [10]. Human riding unicycle model [11] and similar types of unicycle robot have been developed [12][13][14]. Air blowing and magnetic force balanced unicycle models are studied instead of disc rotation for side balancing of unicycle robot [15], [16].…”