Design and System Parameter’s Validation of the Unicycle Mobile Robot
Unicycle mobile robot is a robot that can move and maneuver on one wheel. The ability of this robot to stand in the upright position and move without falling down is considered a tough challenge for the researchers to conduct the investigation on it. The ideas of developing unicycle mobile robo...
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| Main Authors: | , , , , |
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| Format: | Conference or Workshop Item |
| Language: | en |
| Published: |
2012
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| Subjects: | |
| Online Access: | http://eprints.utem.edu.my/id/eprint/7888/1/iccais_ieee.pdf http://eprints.utem.edu.my/id/eprint/7888/ http://ieeexplore.ieee.org/search/searchresult.jsp?newsearch=true&queryText=Design+and+System+Parameter%E2%80%99s+Validation+of&.x=46&.y=26 |
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| Summary: | Unicycle mobile robot is a robot that can move
and maneuver on one wheel. The ability of this robot to stand
in the upright position and move without falling down is
considered a tough challenge for the researchers to conduct the
investigation on it. The ideas of developing unicycle mobile
robot are inspired from a human who rides a unicycle. In a
real life, when a human rides a unicycle, he needs to balance
his position or roll angle by moving his two arms, wrist and
body in the unison manner. Meanwhile the pitch angle of the
rider can be stabilized by pedalling the unicycle using the two
legs back and forth, in order to control the speed and the
position of the unicycle’s wheel. Besides that, the yaw angle of
the unicycle is stabilized by rotating the left and the right
hands synchronously. Thus, in this research, a unicycle mobile
robot has been designed and fabricated. The parameter from
the unicycle’s model is acquired and used as the input to its
dynamic modelling which has been developed previously. |
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