Control of Single Wheel Robots | UPT Perpustakaan UNS

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Control of Single Wheel Robots

Xu, Yangsheng. - Nama Orang; Ou, Yongsheng. - Nama Orang;

Introduction -- Kinematics and Dynamics -- Model-based Control -- Learning-Based Control -- Further Topics on Learning-based Control -- Shared Control -- Conclusions.This monograph presents a novel concept of a mobile robot, which is a single-wheel, gyroscopically stabilized robot. The robot is balanced by a spinning wheel attached through a two-link manipulator at the wheel bearing, and actuated by a drive motor. This configuration conveys significant advantages including insensitivity to attitude disturbances, high maneuverability, low rolling resistance, ability to recover from falls, and amphibious capability for potential applications on both land and water. This book focuses on the dynamics and control aspects, including modeling, model-based control, learning-based control, and shared control with human operators. This novel mobile robot concept opens up the science of dynamically stable systems with a single wheel configuration. The book also presents considerations in concept, design implementations, and kinematics modeling, as well as experimental results from various algorithms and cases. The system is a nonholonomic, underactuated, and highly nonlinear system, so this book is appropriate for scientists and engineers with interests in mobile robot, dynamics and control, as a research reference and postgraduate textbook.

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Informasi Detail

Judul Seri: -
No. Panggil: -
Penerbit: Berlin, Heidelberg : Springer., 2005
Deskripsi Fisik: XXIV, 188 p.online resource.
Bahasa: English
ISBN/ISSN: 9783540315018
Klasifikasi: 629.892
Tipe Isi: -
Tipe Media: -
Tipe Pembawa: -
Edisi: 1st ed.
Subjek: Artificial intelligence.
Control engineering.
Robotics.
Automation.
Robotics and Automation.
Mechatronics.
Control, Robotics, Mechatronics.
Engineering design.
Automotive engineering.
Info Detail Spesifik: -
Pernyataan Tanggungjawab: Yangsheng Xu, Yongsheng Ou.

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