Overview
- Presents a novel concept of a mobile robot called Gyrover, which is a single-wheel, gyroscopically stabilized robot
- Presents significant advantages and real world applications of the concept
- Gives a complete picture of mobile robots
- Opens up a science of dynamically stable systems with a single wheel configuration
Part of the book series: Springer Tracts in Advanced Robotics (STAR, volume 20)
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Table of contents (7 chapters)
Keywords
About this book
This monograph presents a novel concept of a mobile robot, which is a single-wheel, gyroscopically stabilized robot. The robot is balanced by a spinning wheel attached through a two-link manipulator at the wheel bearing, and actuated by a drive motor. This configuration conveys significant advantages including insensitivity to attitude disturbances, high maneuverability, low rolling resistance, ability to recover from falls, and amphibious capability for potential applications on both land and water. This book focuses on the dynamics and control aspects, including modeling, model-based control, learning-based control, and shared control with human operators. This novel mobile robot concept opens up the science of dynamically stable systems with a single wheel configuration. The book also presents considerations in concept, design implementations, and kinematics modeling, as well as experimental results from various algorithms and cases. The system is a nonholonomic, underactuated, and highly nonlinear system, so this book is appropriate for scientists and engineers with interests in mobile robot, dynamics and control, as a research reference and postgraduate textbook.
Bibliographic Information
Book Title: Control of Single Wheel Robots
Authors: Yangsheng Xu, Yongsheng Ou
Series Title: Springer Tracts in Advanced Robotics
DOI: https://doi.org/10.1007/b136654
Publisher: Springer Berlin, Heidelberg
eBook Packages: Engineering, Engineering (R0)
Copyright Information: Springer-Verlag Berlin Heidelberg 2005
Hardcover ISBN: 978-3-540-28184-9Published: 30 September 2005
Softcover ISBN: 978-3-642-06639-9Published: 12 February 2010
eBook ISBN: 978-3-540-31501-8Published: 12 December 2005
Series ISSN: 1610-7438
Series E-ISSN: 1610-742X
Edition Number: 1
Number of Pages: XXIV, 188
Topics: Robotics and Automation, Control, Robotics, Mechatronics, Artificial Intelligence, Engineering Design, Automotive Engineering