DocumentCode
1740188
Title
Dynamics of a rolling disk and a single wheel robot on an inclined plane
Author
Xu, Yangsheng ; Sun, Loi Wah
Author_Institution
Dept. of Mech. & Autom. Eng., Chinese Univ. of Hong Kong, Shatin, China
Volume
1
fYear
2000
fDate
2000
Firstpage
811
Abstract
The dynamics of a rolling disk and a single wheel robot on an incline are derived and established respectively. The condition of rolling up is addressed. If the condition of rolling up is violated, a methodology of tracking is proposed. The system is stabilized around the position perpendicular to the surface. Simulation results are also provided
Keywords
mobile robots; path planning; robot dynamics; inclined plane; rolling disk dynamics; rolling up; single wheel robot; tracking; Equations; Flywheels; Gravity; Lagrangian functions; Mobile robots; Robotics and automation; Spinning; Vehicle dynamics; Vehicles; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location
Takamatsu
Print_ISBN
0-7803-6348-5
Type
conf
DOI
10.1109/IROS.2000.894704
Filename
894704
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