Speed and balancing control for unicycle robot

Rosyidi, M. Anfa'ur; Binugroho, Eko Henfri; Charel, S. Ekti Radin; Dewanto, Raden Sanggar; Pramadihanto, Dadet

doi:10.1109/elecsym.2016.7860969

Cited by 17 publications

(10 citation statements)

References 6 publications

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“…Previous literature proposes reaction wheel unicycle robots whose rotation axis is either coaxial to a line connecting the center of both wheels [8]- [10] or orthogonal to such a line [10]- [12]. Unicycle robots with coaxially-oriented reaction wheels do not directly actuate the unstable roll DOF but instead turn the robot in the tilting direction while the rolling wheel prevents toppling.…”

Section: B Designing An Agile Reaction Wheel Unicyclementioning

confidence: 99%

The Wheelbot: A Jumping Reaction Wheel Unicycle

Geist

Fiene

Tashiro

et al. 2022

IEEE Robot. Autom. Lett.

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Combining off-the-shelf components with 3Dprinting, the Wheelbot is a symmetric reaction wheel unicycle that can jump onto its wheels from any initial position. With non-holonomic and under-actuated dynamics, as well as two coupled unstable degrees of freedom, the Wheelbot provides a challenging platform for nonlinear and data-driven control research. This paper presents the Wheelbot's mechanical and electrical design, its estimation and control algorithms, as well as experiments 4 demonstrating both self-erection and disturbance rejection while balancing.

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Section: B Designing An Agile Reaction Wheel Unicyclementioning

confidence: 99%

The Wheelbot: A Jumping Reaction Wheel Unicycle

Geist

Fiene

Tashiro

et al. 2022

IEEE Robot. Autom. Lett.

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“…The fact is that to move in some given direction, OmBURo however starts with a quick opposite movement, causing its body to lean towards the goal direction due to inertia, and then reverses its wheel and speeds up using its dynamics. In order for OmBURo to move with a constant velocity, its body needs to lean for a certain angle against ground friction, as suggested by (12). Due to limited space, results are shown only for the X−direction.…”

Section: Velocity Trackingmentioning

confidence: 99%

“…A conventional unicycle robot uses a single wheel for longitudinal balancing and another reaction wheel for lateral balancing, which however results in a quite complicated and bulky mechanical structure [2], [3], [11], [12], [13], [14], [15], [16], [17], [18]. It cannot move omnidirectionally either.…”

Section: Introductionmentioning

confidence: 99%

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OmBURo: A Novel Unicycle Robot with Active Omnidirectional Wheel

Shen

Hong

2020

Preprint

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A mobility mechanism for robots to be used in tight spaces shared with people requires it to have a small footprint, to move omnidirectionally, as well as to be highly maneuverable. However, currently there exist few such mobility mechanisms that satisfy all these conditions well.Here we introduce Omnidirectional Balancing Unicycle Robot (OmBURo), a novel unicycle robot with active omnidirectional wheel. The effect is that the unicycle robot can drive in both longitudinal and lateral directions simultaneously. Thus, it can dynamically balance itself based on the principle of dual-axis wheeled inverted pendulum. This letter discloses the early development of this novel unicycle robot involving the overall design, modeling, and control, as well as presents some preliminary results including station keeping and path following. With its very compact structure and agile mobility, it might be the ideal locomotion mechanism for robots to be used in human environments in the future.

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“…The PID controller was applied to this system (ROSYIDI et al, 2016) in the prototype of Figure 2a, where the decoupled modeling was considered. Figure 2b shows the prototype in which a LQR control was applied to the system to act on inclined planes, designed to operate with slopes of ±11 • .…”

Section: Literature Reviewmentioning

confidence: 99%

Modeling, construction and control of a self-balancing unicycle.

Neves¹

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Speed and balancing control for unicycle robot

Cited by 17 publications

References 6 publications

The Wheelbot: A Jumping Reaction Wheel Unicycle

The Wheelbot: A Jumping Reaction Wheel Unicycle

OmBURo: A Novel Unicycle Robot with Active Omnidirectional Wheel

Modeling, construction and control of a self-balancing unicycle.

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