Academic literature on the topic 'Single-wheel robot'
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Journal articles on the topic "Single-wheel robot"
Wyrwał, Daniel, and Tymoteusz Lindner. "Control algorithm for holonomic robot that balances on single spherical wheel." MATEC Web of Conferences 252 (2019): 02005. http://dx.doi.org/10.1051/matecconf/201925202005.
Full textBrown, H. B. Jr, and Yangsheng Xu. "A single wheel, gyroscopically stabilized robot." IEEE Robotics & Automation Magazine 4, no. 3 (September 1997): 39–44. http://dx.doi.org/10.1109/100.618022.
Full textZhu, Xiaoqing, Ruoyan Wei, Yao Xiao, Xiaogang Ruan, and Zhigang Chen. "Electromagnetic Force Balanced Single-Wheel Robot." Chinese Journal of Electronics 25, no. 3 (May 1, 2016): 441–47. http://dx.doi.org/10.1049/cje.2016.05.008.
Full textForouhar, Moein, Mohammad H. Abedin-Nasab, and Guangjun Liu. "Introducing GyroSym: a single-wheel robot." International Journal of Dynamics and Control 8, no. 2 (August 1, 2019): 404–17. http://dx.doi.org/10.1007/s40435-019-00565-2.
Full textLi, Yunwang, Sumei Dai, Lala Zhao, Xucong Yan, and Yong Shi. "Topological Design Methods for Mecanum Wheel Configurations of an Omnidirectional Mobile Robot." Symmetry 11, no. 10 (October 10, 2019): 1268. http://dx.doi.org/10.3390/sym11101268.
Full textRashid, Maki K. "Simulation of Intelligent Single Wheel Mobile Robot." International Journal of Advanced Robotic Systems 4, no. 1 (March 2007): 10. http://dx.doi.org/10.5772/5707.
Full textGorobtsov, A. S., A. V. Skorikov, P. S. Tarasov, and O. K. Chesnokov. "ROBOT WITH COMBINED WHEEL-STEPPING MOVER." IZVESTIA VOLGOGRAD STATE TECHNICAL UNIVERSITY, no. 9(244) (September 25, 2020): 26–30. http://dx.doi.org/10.35211/1990-5297-2020-9-244-26-30.
Full textChen, Zhigang, Xiaogang Ruan, Cheng Li, Xiaoping Zhang, Jianxian Cai, Ouattara Sie, and Xiaoqing Zhu. "Single-wheel robot modelling using natural orthogonal complement." International Journal of System Control and Information Processing 2, no. 1 (2017): 31. http://dx.doi.org/10.1504/ijscip.2017.084257.
Full textSie, Ouattara, Jianxian Cai, Cheng Li, Xiaoping Zhang, Zhigang Chen, Xiaogang Ruan, and Xiaoqing Zhu. "Single-wheel robot modelling using natural orthogonal complement." International Journal of System Control and Information Processing 2, no. 1 (2017): 31. http://dx.doi.org/10.1504/ijscip.2017.10005183.
Full textMohanraj, A. P., A. Elango, D. Ragavendhiran, P. Vignesh Raja, and K. Ashok. "Design and Movement Analysis of Single Roller Omni Directional Wheeled Robot for Different Assembly Structures." Applied Mechanics and Materials 592-594 (July 2014): 2324–28. http://dx.doi.org/10.4028/www.scientific.net/amm.592-594.2324.
Full textDissertations / Theses on the topic "Single-wheel robot"
Lochman, Vít. "Konstrukce jednokolového mobilního robotu se schopností skákání." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2020. http://www.nusl.cz/ntk/nusl-417721.
Full text"Dynamics and control of a single wheel, gyroscopically stabilized robot." 1999. http://library.cuhk.edu.hk/record=b5889874.
Full textThesis (M.Phil.)--Chinese University of Hong Kong, 1999.
Includes bibliographical references (leaves 55-58).
Abstracts in English and Chinese.
Abstract --- p.i
Acknowledgments --- p.iii
Contents --- p.iv
List of Figures --- p.vi
List of Tables --- p.viii
Chapter 1 --- Introduction --- p.1
Chapter 1.1 --- Motivation --- p.1
Chapter 1.2 --- Previous work --- p.5
Chapter 1.3 --- Thesis overview --- p.7
Chapter 2 --- Dynamics of the Single Wheel Robot --- p.10
Chapter 2.1 --- Dynamic model of a rolling disk --- p.10
Chapter 2.1.1 --- Kinematic constraints --- p.11
Chapter 2.1.2 --- Equations of motion --- p.13
Chapter 2.1.3 --- Characteristics of the rolling disk --- p.15
Chapter 2.2 --- Dynamic model of the single wheel robot --- p.18
Chapter 2.2.1 --- Coordinate frames and generalized coordinates --- p.19
Chapter 2.2.2 --- Equations of motion --- p.21
Chapter 2.2.3 --- Model simplification --- p.24
Chapter 2.3 --- Dynamic properties of the single wheel robot --- p.27
Chapter 3 --- Stabilization of the Single Wheel Robot --- p.30
Chapter 3.1 --- Linearized model --- p.30
Chapter 3.2 --- Controllability and non-minimum phase characteristics --- p.33
Chapter 3.3 --- Linear state feedback --- p.33
Chapter 3.4 --- Simulation Study --- p.35
Chapter 4 --- Path Following of the Single Wheel Robot --- p.37
Chapter 4.1 --- Path following for nonholonomic systems --- p.37
Chapter 4.2 --- Definition of path following --- p.39
Chapter 4.3 --- New configuration --- p.39
Chapter 4.4 --- Line following --- p.41
Chapter 4.4.1 --- Velocity control law --- p.42
Chapter 4.4.2 --- Convergence for the velocity control law --- p.43
Chapter 4.4.3 --- Torque control law --- p.45
Chapter 4.5 --- Simulation study --- p.47
Chapter 4.5.1 --- Effect of the initial heading angle --- p.47
Chapter 4.5.2 --- Effect of the rolling speed --- p.49
Chapter 4.5.3 --- Follow a desired line --- p.50
Chapter 4.5.4 --- Effect of the smoothness parameter --- p.50
Chapter 5 --- Conclusion --- p.52
Chapter 5.1 --- Contributions --- p.52
Chapter 5.2 --- Future work --- p.53
Bibliography --- p.55
"Single wheel robot: gyroscopical stabilization on ground and on incline." 2000. http://library.cuhk.edu.hk/record=b5890272.
Full textThesis (M.Phil.)--Chinese University of Hong Kong, 2000.
Includes bibliographical references (leaves 77-81).
Abstracts in English and Chinese.
Abstract --- p.i
Acknowledgments --- p.iii
Contents --- p.v
List of Figures --- p.vii
List of Tables --- p.viii
Chapter 1 --- Introduction --- p.1
Chapter 1.1 --- Motivation --- p.1
Chapter 1.1.1 --- Literature review --- p.2
Chapter 1.1.2 --- Gyroscopic precession --- p.5
Chapter 1.2 --- Thesis overview --- p.7
Chapter 2 --- Dynamics of the robot on ground --- p.9
Chapter 2.1 --- System model re-derivation --- p.10
Chapter 2.1.1 --- Linearized model --- p.15
Chapter 2.2 --- A state feedback control --- p.16
Chapter 2.3 --- Dynamic characteristics of the system --- p.18
Chapter 2.4 --- Simulation study --- p.19
Chapter 2.4.1 --- The self-stabilizing dynamics effect of the single wheel robot --- p.21
Chapter 2.4.2 --- The Tilting effect of flywheel on the robot --- p.23
Chapter 2.5 --- Dynamic parameters analysis --- p.25
Chapter 2.5.1 --- Swinging pendulum --- p.25
Chapter 2.5.2 --- Analysis of radius ratios --- p.27
Chapter 2.5.3 --- Analysis of mass ratios --- p.30
Chapter 3 --- Dynamics of the robot on incline --- p.33
Chapter 3.1 --- Modeling of rolling disk on incline --- p.33
Chapter 3.1.1 --- Disk rolls up on an inclined plane --- p.37
Chapter 3.2 --- Modeling of single wheel robot on incline --- p.39
Chapter 3.2.1 --- Kinematic constraints --- p.40
Chapter 3.2.2 --- Equations of motion --- p.41
Chapter 3.2.3 --- Model simplification --- p.43
Chapter 3.2.4 --- Linearized model --- p.46
Chapter 4 --- Control of the robot on incline --- p.47
Chapter 4.1 --- A state feedback control --- p.47
Chapter 4.1.1 --- Simulation study --- p.49
Chapter 4.2 --- Backstepping-based control --- p.51
Chapter 4.2.1 --- Simulation study --- p.53
Chapter 4.2.2 --- The effect of the spinning rate of flywheel --- p.56
Chapter 4.2.3 --- Simulation study --- p.58
Chapter 4.2.4 --- Roll up case --- p.58
Chapter 4.2.5 --- Roll down case --- p.58
Chapter 5 --- Motion planning --- p.61
Chapter 5.1 --- Performance index --- p.61
Chapter 5.2 --- Condition of rolling up --- p.62
Chapter 5.3 --- Motion planning of rolling Up --- p.65
Chapter 5.3.1 --- Method I : Orientation change --- p.65
Chapter 5.3.2 --- Method II : Change the initial velocities --- p.69
Chapter 5.4 --- Wheel rolls Down --- p.70
Chapter 5.4.1 --- Terminal velocity of rolling body down --- p.73
Chapter 6 --- Summary --- p.75
Chapter 6.1 --- Contributions --- p.75
Chapter 6.2 --- Future Works --- p.76
Bibliography --- p.78
WEN, CHAO-YUAN, and 溫兆源. "Control of single spherical wheel robot driven by omni wheels." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/02545169972589006627.
Full text中華大學
電機工程學系碩士班
99
This thesis mainly discusses the control of a spherical robot using Omni wheels to drive a spherical wheel. The dynamical model is derived from Euler Lagrange approach. Therefore, seven different control methods are presented which can achieve a constant speed at a vertical balance altitude. The proposed control methods can be categorized into two algorithms. The first algorithm is the variable structure system control (VSSC) in which the time needed to enter the sliding surface or to reach the stable point can be adjusted by parameters. The second one is the nonlinear feedback, but its smoothing input is different from the switching input of variable structure system control (VSSC). The constant speed of the spherical robot with vertical balance altitude can be achieved by both algorithms and be verified by simulations.
"Learning and input selection of human strategy in controlling a single wheel robot." 2000. http://library.cuhk.edu.hk/record=b5890260.
Full textThesis (M.Phil.)--Chinese University of Hong Kong, 2000.
Includes bibliographical references (leaves 83-87).
Abstracts in English and Chinese.
Chapter 1 --- Introduction --- p.1
Chapter 1.1 --- Robot Concept --- p.1
Chapter 1.2 --- Motivations --- p.3
Chapter 1.3 --- Related Work --- p.5
Chapter 1.4 --- Overview --- p.6
Chapter 2 --- Single Wheel Robot --- p.8
Chapter 2.1 --- Mathematical Model --- p.8
Chapter 2.1.1 --- Coordinate Frame --- p.9
Chapter 2.1.2 --- Equations of Motion --- p.10
Chapter 2.1.3 --- Model Simplification --- p.12
Chapter 2.2 --- Hardware Descriptions --- p.13
Chapter 2.2.1 --- Actuators --- p.14
Chapter 2.2.2 --- Sensors --- p.14
Chapter 2.2.3 --- Communication Subsystem --- p.15
Chapter 2.2.4 --- Computer Subsystem --- p.16
Chapter 2.3 --- Software Descriptions --- p.16
Chapter 2.3.1 --- Operating System --- p.17
Chapter 2.3.2 --- Software Architecture --- p.18
Chapter 3 --- Human-based Control --- p.21
Chapter 3.1 --- Why Human-based Control --- p.21
Chapter 3.2 --- Modeling Human Control Strategy --- p.22
Chapter 3.2.1 --- Human Control Strategy --- p.22
Chapter 3.2.2 --- Neural Network for Modeling --- p.23
Chapter 3.2.3 --- Learning Procedure --- p.24
Chapter 3.3 --- Task Descriptions --- p.28
Chapter 3.4 --- Modeling HCS in Controlling the Robot --- p.29
Chapter 3.4.1 --- Model Input and Output --- p.30
Chapter 3.4.2 --- Human-based Controller --- p.31
Chapter 3.5 --- Result and Discussion --- p.31
Chapter 4 --- Input Selection --- p.38
Chapter 4.1 --- Why Input Selection --- p.38
Chapter 4.2 --- Model Validation --- p.39
Chapter 4.2.1 --- Why Model Validation --- p.39
Chapter 4.2.2 --- Root Mean Square Error Measure --- p.40
Chapter 4.3 --- Experimental Setup --- p.40
Chapter 4.4 --- Model-based Method --- p.41
Chapter 4.4.1 --- Problem Definition --- p.41
Chapter 4.4.2 --- Input Representation --- p.43
Chapter 4.4.3 --- Sensitivity Analysis --- p.44
Chapter 4.4.4 --- Experimental Result --- p.47
Chapter 4.5 --- Model-free Method --- p.51
Chapter 4.5.1 --- Problems Definition --- p.51
Chapter 4.5.2 --- Factor Analysis --- p.54
Chapter 4.5.3 --- Experimental Result --- p.63
Chapter 4.6 --- Model-based Method versus Model-free Method --- p.66
Chapter 5 --- Conclusion and Future Work --- p.71
Chapter 5.1 --- Contributions --- p.71
Chapter 5.2 --- Future Work --- p.72
Chapter Appendix A --- Dynamic Model of the Robot --- p.74
Chapter A.1 --- Kinematic Constraints: Holonomic and Nonholonomic --- p.74
Chapter A.1.1 --- Coordinate Frame --- p.74
Chapter A.2 --- Robot Dynamics --- p.76
Chapter A.2.1 --- Single Wheel --- p.77
Chapter A.2.2 --- Internal Mechanism and Spinning Flywheel --- p.77
Chapter A.2.3 --- Lagrangians of the System --- p.78
Chapter Appendix B --- Similarity Measure --- p.80
Bibliography --- p.82
Books on the topic "Single-wheel robot"
Control of Single Wheel Robots. Berlin/Heidelberg: Springer-Verlag, 2005. http://dx.doi.org/10.1007/b136654.
Full textXu, Yangsheng, and Yongsheng Ou. Control of Single Wheel Robots (Springer Tracts in Advanced Robotics). Springer, 2005.
Find full textBook chapters on the topic "Single-wheel robot"
Park, Junehyung, and Seul Jung. "Driving and Turning Control of a Single-Wheel Mobile Robot." In Advances in Intelligent Systems and Computing, 661–70. Berlin, Heidelberg: Springer Berlin Heidelberg, 2013. http://dx.doi.org/10.1007/978-3-642-33932-5_62.
Full textAl-Mamun, Abdullah, and Zhen Zhu. "PSO-Optimized Fuzzy Logic Controller for a Single Wheel Robot." In Communications in Computer and Information Science, 330–37. Berlin, Heidelberg: Springer Berlin Heidelberg, 2010. http://dx.doi.org/10.1007/978-3-642-15810-0_42.
Full textHa, Minsoo, and Seul Jung. "Neural Network Control for the Balancing Performance of a Single-Wheel Transportation Vehicle: Gyrocycle." In Robot Intelligence Technology and Applications 2, 877–85. Cham: Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-05582-4_77.
Full textHerrera-Cordero, Mario E., Manuel Arias-Montiel, and Esther Lugo-González. "Design and Dynamic Modeling of a Novel Single-Wheel Pendulum Robot." In Mechanism Design for Robotics, 353–60. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-030-00365-4_42.
Full textHerrera-Cordero, Mario E., Manuel Arias-Montiel, Marco Ceccarelli, and Esther Lugo-González. "On the Dynamics and Control of a Single-Wheel Robot with Inertial Locomotion." In Industrial and Robotic Systems, 249–60. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-45402-9_24.
Full textFlippo, Daniel, Richard Heller, and David P. Miller. "Turning Efficiency Prediction for Skid Steer Robots Using Single Wheel Testing." In Springer Tracts in Advanced Robotics, 479–88. Berlin, Heidelberg: Springer Berlin Heidelberg, 2010. http://dx.doi.org/10.1007/978-3-642-13408-1_43.
Full textKharola, Ashwani, Piyush Dhuliya, and Priyanka Sharma. "Anti-Swing and Position Control of Single Wheeled Inverted Pendulum Robot (SWIPR)." In Robotic Systems, 603–13. IGI Global, 2020. http://dx.doi.org/10.4018/978-1-7998-1754-3.ch031.
Full textConference papers on the topic "Single-wheel robot"
Marzban, Mostapha, and Aria Alasty. "Stability Control of an Amphibious Single Wheel Robot." In ASME 2007 International Mechanical Engineering Congress and Exposition. ASMEDC, 2007. http://dx.doi.org/10.1115/imece2007-44020.
Full textRuan, Xiaogang, Xu Wang, Xiaoqing Zhu, Zhigang Chen, and Rongyi Sun. "Active disturbance rejection control of Single wheel robot." In 2014 11th World Congress on Intelligent Control and Automation (WCICA). IEEE, 2014. http://dx.doi.org/10.1109/wcica.2014.7053403.
Full textMarzban, Mostapha, and Dina Alizadeh. "Positioning and Tracking Control of an Amphibious Single Wheel Robot." In ASME 2008 International Mechanical Engineering Congress and Exposition. ASMEDC, 2008. http://dx.doi.org/10.1115/imece2008-66281.
Full textMarzban, Mostapha, and Aria Alasty. "Dynamic Analysis of an Amphibious Single Wheel Robot, Part 1: Moving in Straight Path." In ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2007. http://dx.doi.org/10.1115/detc2007-35876.
Full textRuan, Xiaogang, Xiaoqing Zhu, Yalei Li, and Ruoyan Wei. "Lateral stabilization of a single wheel robot applying electromagnetic force." In 2012 10th World Congress on Intelligent Control and Automation (WCICA 2012). IEEE, 2012. http://dx.doi.org/10.1109/wcica.2012.6359085.
Full textHa, M. S., and S. Jung. "Angle compensation by fuzzy logic for balancing a single-wheel mobile robot." In 2015 10th Asian Control Conference (ASCC). IEEE, 2015. http://dx.doi.org/10.1109/ascc.2015.7244524.
Full textLee, S. D., and S. Jung. "Empirical verification of a controllable angle of a single-wheel mobile robot." In 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM). IEEE, 2017. http://dx.doi.org/10.1109/aim.2017.8014258.
Full textWyrwał, Daniel, Tymoteusz Lindner, and Dominik Rybarczyk. "Design and control of a holonomic robot that balances on single spherical wheel." In 2ND INTERNATIONAL CONFERENCE ON CHEMISTRY, CHEMICAL PROCESS AND ENGINEERING (IC3PE). Author(s), 2018. http://dx.doi.org/10.1063/1.5066544.
Full textZhu, Zhen, Myint Phone Naing, and Abdullah Al-Mamun. "Integrated ADAMS+MATLAB environment for design of an autonomous single wheel robot." In IECON 2009 - 35th Annual Conference of IEEE Industrial Electronics (IECON). IEEE, 2009. http://dx.doi.org/10.1109/iecon.2009.5415187.
Full textNagarajan, Umashankar, Anish Mampetta, George A. Kantor, and Ralph L. Hollis. "State transition, balancing, station keeping, and yaw control for a dynamically stable single spherical wheel mobile robot." In 2009 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2009. http://dx.doi.org/10.1109/robot.2009.5152681.
Full text