By Yangsheng Xu
This monograph offers a unique inspiration of a cellular robotic, that is a single-wheel, gyroscopically stabilized robotic. The robotic is balanced by means of a spinning wheel connected via a two-link manipulator on the wheel bearing, and actuated by means of a force motor. This configuration conveys major merits together with insensitivity to angle disturbances, excessive maneuverability, low rolling resistance, skill to get over falls, and amphibious potential for power functions on either land and water. This booklet specializes in the dynamics and regulate features, together with modeling, model-based keep an eye on, learning-based keep an eye on, and shared regulate with human operators. This novel cellular robotic notion opens up the technological know-how of dynamically sturdy structures with a unmarried wheel configuration. The publication additionally provides issues in suggestion, layout implementations, and kinematics modeling, in addition to experimental effects from quite a few algorithms and circumstances. The method is a nonholonomic, underactuated, and hugely nonlinear process, so this publication is acceptable for scientists and engineers with pursuits in cellular robotic, dynamics and keep watch over, as a examine reference and postgraduate textbook.
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Additional info for Control of Single Wheel Robots
In the simulation, we assume that the single wheel robot is a rolling disk with Ixw = Iyw = 21 mR2 and Izw = mR2 . 3. 3. 10 shows the simulation of a rolling disk. It is noted that the lean angle β˙ of the rolling disk decreases rapidly and the lean angle β becomes zero. This means the disk falls over, or, its inertial matrix will become singular, which violates the assumption of rolling without slipping. Besides, the steering rate α˙ rises up and down, and the trajectory of the rolling disk does not go up along the Y axis.
9b, the change of the lean angle β of the robot with a lower rolling speed is more signiﬁcant than that of the robot with a higher rolling speed. It is because, for the robot with a greater rolling speed, based on Eq. 16), a lesser steering velocity is required for tracking the same path curvature feedback κ. Thus, the change of the lean angle β decreases according to Eq. 9). 2 Nonlinear Model Recently, there has been growing interest in the design of feedback control laws for nonholonomic systems .
9), we can control the steering velocity α˙ to the desired value where the robot must be stabilized to the corresponding lean angle δβref . 27) where δβ and δβref are the small pertubation of the lean angle from the vertical position and the reference lean angle respectively. Note that the steering velocity α˙ does not appear in Eq. 27) because if the robot stabilizes to the desired lean angle δβref , its steering rate must converge to an equilibrium value according to Eq. 9). Therefore, there is no need to include the steering velocity in the state feedback Eq.