Dynamic model of a gyroscopic wheel

Nandy, G.C.; Xu, Yangsheng

doi:10.1109/robot.1998.680751

Cited by 21 publications

(11 citation statements)

References 3 publications

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“…The Gyrover steers by tilting sideways, and the precession rate develops from the wheel dynamics without a kinematic constraint. (Brown Jr. and Xu 1996;Xu et al 1998;Nandy and Xu 1998) S p i n n i n g i s f r e e f r o m c o n s t r a i n t s a l s o i n t h e r o b o t models applying linear actuators in the works of Mojabi (2002, 2004), and Sang et al (2010).…”

Section: Classical Ball-plate Problem Spinning Forbiddenmentioning

confidence: 99%

Gyroscopic Precession In Motion Modelling Of Ball-Shaped Robots

Ylikorpi¹,

Forsman²,

Halme³

2014

ECMS 2014 Proceedings Edited By: Flaminio Squazzoni, Fabio Baronio, Claudia Archetti, Marco Castellani

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This study discusses kinematic and dynamic precession models for a rolling ball with a finite contact area and a point contact respectively. In literature, both conventions have been applied. In this paper, we discuss in detail the kinematic and dynamic models to describe the ball precession and the radius of a circular rolling path. The kinematic model can be used if the contact area and friction coefficient are sufficient to prevent slippage. The dynamic precession model has significance in multi-body simulation environments handling rolling balls with ideal point contacts. We have applied both the kinematic and dynamic precession model to evaluate the no-slip condition of the existing GimBall-robot. According to the result, the necessity of an external precession torque may cause slipping at lower velocities than expected if ignoring this torque.

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Section: Classical Ball-plate Problem Spinning Forbiddenmentioning

confidence: 99%

Gyroscopic Precession In Motion Modelling Of Ball-Shaped Robots

Ylikorpi¹,

Forsman²,

Halme³

2014

ECMS 2014 Proceedings Edited By: Flaminio Squazzoni, Fabio Baronio, Claudia Archetti, Marco Castellani

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“…The gyro effect is created by the combination of two angle rotations, flywheel spin and tilt motion. The dynamics of one-wheel robot system has been presented in [7,11,13]. Table 1 lists parameters of GYROBO.…”

Section: Gyrobo Modellingmentioning

confidence: 99%

“…A one-wheel robot is a rolling disk that requires balancing while running on the ground [6]. Gyrover is a typical disc-typed mobile robot that has been developed and presented for many years [7][8][9][10][11]. Gyrover is a gyroscopically stabilized system that uses the gyroscopic motion to balance the lean angle against falling as shown in Figure 1.…”

Section: Introductionmentioning

confidence: 99%

Experimental Studies of Neural Network Control for One-Wheel Mobile Robot

Kim

Jung

2012

Journal of Control Science and Engineering

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This paper presents development and control of a disc-typed one-wheel mobile robot, called GYROBO. Several models of the onewheel mobile robot are designed, developed, and controlled. The current version of GYROBO is successfully balanced and controlled to follow the straight line. GYROBO has three actuators to balance and move. Two actuators are used for balancing control by virtue of gyro effect and one actuator for driving movements. Since the space is limited and weight balance is an important factor for the successful balancing control, careful mechanical design is considered. To compensate for uncertainties in robot dynamics, a neural network is added to the nonmodel-based PD-controlled system. The reference compensation technique (RCT) is used for the neural network controller to help GYROBO to improve balancing and tracking performances. Experimental studies of a selfbalancing task and a line tracking task are conducted to demonstrate the control performances of GYROBO.

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“…Self-stabilization of a single rolling wheel using a gyroscopic actuation was under several explorations for its importance in robotic applications (Nandy & Xu, 1998) and (Xu et al, 1999). The mechanical design consists basically of a gyro disk attached to internally suspended pendulum.…”

Section: Armless Intelligent Single Wheel Mobile Robotmentioning

confidence: 99%

Armless Climbing and Walking in Robotics

Rashid¹

2007

Bioinspiration and Robotics Walking and Climbing Robots

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Dynamic model of a gyroscopic wheel

Cited by 21 publications

References 3 publications

Gyroscopic Precession In Motion Modelling Of Ball-Shaped Robots

Gyroscopic Precession In Motion Modelling Of Ball-Shaped Robots

Experimental Studies of Neural Network Control for One-Wheel Mobile Robot

Armless Climbing and Walking in Robotics

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