Control of Single Wheel Robots

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 advantage...

Πλήρης περιγραφή

Λεπτομέρειες βιβλιογραφικής εγγραφής
Κύριοι συγγραφείς: Xu, Yangsheng (Συγγραφέας), Ou, Yongsheng (Συγγραφέας)
Συγγραφή απο Οργανισμό/Αρχή: SpringerLink (Online service)
Μορφή: Ηλεκτρονική πηγή Ηλ. βιβλίο
Γλώσσα:English
Έκδοση: Berlin, Heidelberg : Springer Berlin Heidelberg, 2005.
Σειρά:Springer Tracts in Advanced Robotics, 20
Θέματα:
Διαθέσιμο Online:Full Text via HEAL-Link
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100 1 |a Xu, Yangsheng.  |e author. 
245 1 0 |a Control of Single Wheel Robots  |h [electronic resource] /  |c by Yangsheng Xu, Yongsheng Ou. 
264 1 |a Berlin, Heidelberg :  |b Springer Berlin Heidelberg,  |c 2005. 
300 |a XXIV, 188 p.  |b online resource. 
336 |a text  |b txt  |2 rdacontent 
337 |a computer  |b c  |2 rdamedia 
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490 1 |a Springer Tracts in Advanced Robotics,  |x 1610-7438 ;  |v 20 
505 0 |a Introduction -- Kinematics and Dynamics -- Model-based Control -- Learning-Based Control -- Further Topics on Learning-based Control -- Shared Control -- Conclusions. 
520 |a 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. 
650 0 |a Engineering. 
650 0 |a Artificial intelligence. 
650 0 |a Engineering design. 
650 0 |a Automotive engineering. 
650 0 |a Control engineering. 
650 0 |a Robotics. 
650 0 |a Mechatronics. 
650 0 |a Automation. 
650 1 4 |a Engineering. 
650 2 4 |a Robotics and Automation. 
650 2 4 |a Control, Robotics, Mechatronics. 
650 2 4 |a Artificial Intelligence (incl. Robotics). 
650 2 4 |a Engineering Design. 
650 2 4 |a Automotive Engineering. 
700 1 |a Ou, Yongsheng.  |e author. 
710 2 |a SpringerLink (Online service) 
773 0 |t Springer eBooks 
776 0 8 |i Printed edition:  |z 9783540281849 
830 0 |a Springer Tracts in Advanced Robotics,  |x 1610-7438 ;  |v 20 
856 4 0 |u http://dx.doi.org/10.1007/b136654  |z Full Text via HEAL-Link 
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950 |a Engineering (Springer-11647)