DocumentCode
2003458
Title
Control of autonomous motion of two-wheel bicycle with gyroscopic stabilisation
Author
Beznos, A.V. ; Formal´sky, A.M. ; Gurfinkel, E.V. ; Jicharev, D.N. ; Lensky, A.V. ; Savitsky, K.V. ; Tchesalin, L.S.
Author_Institution
Inst. of Mech., Lomonosov (M.V.) State Univ., Moscow, Russia
Volume
3
fYear
1998
fDate
16-20 May 1998
Firstpage
2670
Abstract
A bicycle with a gyroscopic stabilisation capable of autonomous motion along a straight line as well as along a curve is described. The stabilisation unit consists of two coupled gyroscopes spinning in opposite directions. It makes use of a gyroscopic torque due to the precession of gyroscopes. This torque counteracts the destabilising torque due to gravity forces. The control law of the actuator drive making the gyroscopes to process is described
Keywords
feedback; gyroscopes; kinematics; motion control; robust control; torque control; vehicles; actuator; autonomous motion control; feedback; gravity forces; gyroscopes; gyroscopic stabilisation; kinematics; two-wheel bicycle; Actuators; Bicycles; Gravity; Gyroscopes; Motion control; Particle measurements; Spinning; Stability; Torque; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location
Leuven
ISSN
1050-4729
Print_ISBN
0-7803-4300-X
Type
conf
DOI
10.1109/ROBOT.1998.680749
Filename
680749
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