Power estimation of a battery in a single-wheel mobile robot by a motion analysis approach

The estimation of battery state is quite important for the dynamical systems powered by a battery. This paper proposes a simple method of estimating the battery power state by the motion analysis of a single-wheel robot system, GYROBO. According to balancing control of single-wheel robot using gyroscopic effect, the condition of power can be estimated by the proposed warming up method. This method has advantages in its simplicity and practicability without the help of any electrical sensor. The proposal is verified by experimental studies.