Control of Single Wheel Robots

• Main Authors: Xu, Yangsheng (Author), Ou, Yongsheng (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Berlin, Heidelberg : Springer Berlin Heidelberg, 2005.
• Series: Springer Tracts in Advanced Robotics, 20
• Subjects: Engineering.; Artificial intelligence.; Engineering design.; Automotive engineering.; Control engineering.; Robotics.; Mechatronics.; Automation.; Robotics and Automation.; Control, Robotics, Mechatronics.; Artificial Intelligence (incl. Robotics).; Engineering Design.; Automotive Engineering.

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...

Table of Contents:

• Introduction
• Kinematics and Dynamics
• Model-based Control
• Learning-Based Control
• Further Topics on Learning-based Control
• Shared Control
• Conclusions.