DocumentCode
2545992
Title
A development of a new mechanism of an autonomous unicycle
Author
Nakajima, Ryo ; Tsubouchi, Takashi ; Yuta, Shin Ichi ; Koyanagi, Eiji
Author_Institution
Inst. of Inf. Sci. & Electron., Tsukuba Univ., Ibaraki, Japan
Volume
2
fYear
1997
fDate
7-11 Sep 1997
Firstpage
906
Abstract
We propose a new mechanism of a unicycle. One feature of this robot is the shape of the wheel which is similar to a rugby ball. The other feature is that the body is separated into upper and lower parts. We give the details of a mechanism of the robot, simple controller system, and some results of a performance experiment using the designed controller. We present experimental results that show that the robot can move in a straight line and steer itself by the proposed mechanism
Keywords
control system synthesis; feedback; mobile robots; position control; velocity control; autonomous unicycle; controller system; steering; Control systems; Gyroscopes; Mobile robots; Navigation; Orbital robotics; Robot control; Robot kinematics; Shape; Stability; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on
Conference_Location
Grenoble
Print_ISBN
0-7803-4119-8
Type
conf
DOI
10.1109/IROS.1997.655117
Filename
655117
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