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
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;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.680749
