Experimental studies of balancing and driving control of a single wheeled mobile robot: GYROBO II

This paper presents control and implementation of a single wheeled mobile robot, called GYROBO II which is the second version of GYROBO I. GYROBO II is a one wheel structure that has three actuators in it. Gyro effects can be induced by the fast rotating flywheel and the tilting of the flywheel and used for balancing. Mechanical structure and control hardware are modified to improve balancing and navigation control performances. Major modifications of GYROBO II are 1) Replacement with new motors, 2) Relocation of batteries, and 3) Addition of a yaw control loop. Linear control algorithms are applied to control the robot. Experimental studies of balancing and driving control of GYROBO II are presented.