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Relevant bibliographies by topics / Unicycle robot

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Journal articles
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Academic literature on the topic 'Unicycle robot'

Author: Grafiati

Published: 4 June 2021

Last updated: 27 July 2025

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Journal articles on the topic "Unicycle robot"

1

Zhang, Yang, Hongzhe Jin, and Jie Zhao. "Dynamic Balance Control of Double Gyros Unicycle Robot Based on Sliding Mode Controller." Sensors 23, no. 3 (2023): 1064. http://dx.doi.org/10.3390/s23031064.

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This paper presents a doublegyroscope unicycle robot, which is dynamically balanced by sliding mode controller and PD controller based on its dynamics. This double−gyroscope robot uses the precession effect of the double gyro system to achieve its lateral balance. The two gyroscopes are at the same speed and in reverse direction so as to ensure that the precession torque of the gyroscopes does not interfere with the longitudinal direction of the unicycle robot. The lateral controller of the unicycle robot is a sliding mode controller. It not only maintains the balance ability of the unicycle r

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Nguyen, Thi-Ai-Van, Dinh-Hau Vu, Ha-Gia-Huy Nguyen, et al. "A Method of LQR Using Velocity Control for Unicycle Robot." Robotica & Management 29, no. 2 (2024): 16–25. https://doi.org/10.24193/rm.2024.2.3.

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This study explores the use of Linear Quadratic Regulator (LQR) control to stabilize a unicycle robot, a key example within the unicycle-type mobile robot category. Despite its inherent instability, the unicycle robot offers notable advantages over multi-wheeled, statically stable designs, including reduced spatial requirements due to its single ground contact point. The system is modeled using two axes: the roll axis, represented as an inverted pendulum managed by the wheel, and the pitch axis, modeled as a reaction wheel inverted pendulum controlled by a reaction disk. LQR is recognized as a

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Tanaka, Takayuki, Hisanobu Suzuki, and Kazuo Tanaka. "Principle of Stable Running of an Unicycle Robot." Journal of Robotics and Mechatronics 14, no. 1 (2002): 37–45. http://dx.doi.org/10.20965/jrm.2002.p0037.

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In previous papers, we reported the world's first success in the driving of a human-riding-type unicycle with postural stability. However, the robotic unicycle was connected with a computer, motor drives, and a power source through electric cables. It was made clear by our experiments that the stability and dynamic behavior of the unicycle were largely affected by these extension cables, and the driving distance was also limited. This paper reports the development of an extension cable-less unicycle including the design of its control system and the principle of unicycle running. Firstly, an i

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EL Kinany, Boutaina, Mohamed Alfidi, and Zakaria Chalh. "Fuzzy Logic Control for Balancing a Two-Armed Inverted Pendulum." Statistics, Optimization & Information Computing 11, no. 1 (2023): 136–42. http://dx.doi.org/10.19139/soic-2310-5070-1548.

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The unicycle robot is an activated model with only one wheel, which ensures its safety. Researchers were particularly interested in the unicycle robot because of its great robustness, which allows it to travel around without colliding with the ground. The inverted pendulum having two arms is modelled using a mathematical representation based on the Lagrangian formulation in this work, which embodies our concept of the unicycle robot. The fuzzy logic control algorithm will then be used to produce a high level of solidity for this system.

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Benaoumeur, Ibari, Benchikh Laredj, Haniﬁ Elhachimi Amar Reda, and Ahmed-foitih Zoubir. "Backstepping Approach for Autonomous Mobile Robot Trajectory Tracking." Indonesian Journal of Electrical Engineering and Computer Science 2, no. 3 (2016): 478. http://dx.doi.org/10.11591/ijeecs.v2.i3.pp478-485.

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This paper proposes a backstepping controller design for trajectory tracking of unicycle-type mobile robots. The main object of the control algorithms developed is to design a robust output tracking controller. The design of the controller is based on the lyapunov theorem, kinematic tracking controller of an unicycle-like mobile robot is used to provides the desired values of the linear and angular velocities for the given trajectory. A Lyapunov-based stability analysis is presented to guarantee the robot stability of the tracking errors. Simulation and experimental results show the effectiven

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Suzuki, Hisanobu, Shunji Moromugi, and Takeshi Okura. "Development of Robotic Unicycles." Journal of Robotics and Mechatronics 26, no. 5 (2014): 540–49. http://dx.doi.org/10.20965/jrm.2014.p0540.

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<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260005/02.jpg"" width=""300"" />Robotic Unicycle in stable driving</div> This paper introduces the first successful development of a robotic unicycle imitating a human rider. The robot consists of a body supported on a single wheel, a closed linkage on each side of the body to drive the wheel, and a rotor on the top. The effects of the closed link, gyro effect, centrifugal force, and reaction torque of the rotor on the robot’s stability and direction were investigated in simulations and experiments. Stabi

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Basal, Mohamed Abdelhakim, and Mohammed Fadhil Ahmed. "Mathematical Modeling of a Unicycle Robot and Use of Advanced Control Methodologies for Multi-Paths Tracking Taking into Account Surface Friction Factors." Journal of Robotics and Control (JRC) 6, no. 1 (2025): 142–54. https://doi.org/10.18196/jrc.v6i1.24361.

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The research aims to design robust controllers that achieve the stability of a single-wheeled robot under the presence of friction factors and to track different parameters to verify robust stability. This paper presents a new study of the unicycle robot system that is controlled using advanced control methodologies. The paper aims to improve the work of the unicycle robot system, due to its effective impact on improving the performance of driving the robot, which is reflected in the smoothness of the vehicle speed change, ensuring the stability of the robot and the safety of the investor in t

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Nguyen, Van Dong Hai, Thanh-Dong Pham, Manh-Tuan Tran, et al. "A METHOD OF PD CONTROL FOR BALANCING A UNICYCLE ROBOT." Indonesian Journal of Engineering and Science 4, no. 1 (2023): 013–24. http://dx.doi.org/10.51630/ijes.v4i1.81.

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Unicycle is a robot that imitates a performance of a circus artist on a one-wheeled self-balancing bicycle. This research assumes that this model is equivalent to two separated popular models: a two-wheeled self-balancing robot and reaction wheeled inverted pendulum. On each model, we build a PD controller. Thence, we present a structure of PD controllers to balance this model at the equilibrium point. We also build an experimental unicycle robot for the laboratory. Our method is proven to work well based on both simulation and experiment.

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UKIYA, Kazutaka, Taro SEKINE, and Michiharu OKANO. "The Control Analysis of Unicycle Robot." Proceedings of Conference of Kanto Branch 2002.8 (2002): 381–82. http://dx.doi.org/10.1299/jsmekanto.2002.8.381.

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HAYASHIMOTO, Kazuya, and Osamu WATANABE. "211 Motion control of unicycle robot." Proceedings of Conference of Tokai Branch 2014.63 (2014): _211–1_—_211–2_. http://dx.doi.org/10.1299/jsmetokai.2014.63._211-1_.

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Dissertations / Theses on the topic "Unicycle robot"

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Vos, David William. "Nonlinear control of an autonomous unicycle robot : practical issues." Thesis, Massachusetts Institute of Technology, 1992. http://hdl.handle.net/1721.1/13180.

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Quaiyum, Labiba. "Model Reference Adaptive Backstepping Control of an Autonomous Ground Vehicle." Thesis, Virginia Tech, 2016. http://hdl.handle.net/10919/64509.

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With an increased push for commercial autonomous cars, the demand of high speed systems capable of performing in unstructured driving environments is growing. In this thesis, the behavior of a bio-inspired predator prey model is considered to stimulate a more organic response to obstacles and a moving target than existing algorithms. However, the current predator prey model has a disconnect between the desired velocities commanded and the torque signals provided to the motors due the dynamics of the vehicle not accounted for. This causes the vehicle to derail from its intended trajectory at sh

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Šustek, David. "Konstrukce jednokolového mobilního robotu se schopností stání na místě." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2020. http://www.nusl.cz/ntk/nusl-417725.

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The master thesis deals with the issue of a single-wheeled robot, especially its construction and movement in more difficult terrain with the possibility of collecting samples. A variant of the robot balanced by a pair of gyroscopes was chosen as the most suitable construction. The robot is able to move in a space with an inclination of up to 24° and is equipped with its own manipulator design.

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Zambelli, Martina. "Posture regulation for unicycle-like robots with prescribed performance guarantees." Thesis, KTH, Reglerteknik, 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-133578.

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This thesis focuses on control of nonholonomic system with particular reference to the unicycle-like robots. These are common examples of WMRs (Wheeled Mobile Robots), increasingly present in industrial and service robotics, particularly when exible motion capabilities are required. The major objective of this study is to solve the regulation problem for the unicycle model while guaranteeing prescribed performance. Dierent controllers based on either polar coordinates or time-varying laws are proposed. The main contribution is the combination of the standard control laws (both with polar coord

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Juin-TingKe and 柯俊廷. "Path Following Control of a Unicycle Robot." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/84896699121363434615.

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碩士<br>國立成功大學<br>工程科學系碩博士班<br>101<br>In recent years, the development of wheeled-type robots has been a highly active research field. A unicycle robot consists of only one driving wheel that contacts the ground, so that the unicycle robot is a highly unstable system. The unicycle robot is commonly used to study the performance of many nonlinear control schemes. In this thesis, the Euler-Lagrange method is used to derive the three-dimensional dynamic model of the system. Then the system model is used for the system simulation and designing a sliding mode controller for the path following. Inerti

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Wen-HaoYang and 楊文皓. "Stabilization and Waypoint Following Control of Unicycle Robot." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/e4xfbw.

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Chun-YenWang and 王俊諺. "Balance Control and Path Following of a Unicycle Robot usingSecond-Order Sliding Mode Control." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/cux5jv.

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碩士<br>國立成功大學<br>工程科學系<br>104<br>SUMMARY The unicycle robot is a nonlinear system which has only a single wheel that interacts with the ground such that the system is unstable and underactuated. This system can be used as a testbed for studying nonlinear control schemes. The main objective of this thesis is to design the second-order sliding mode controller to balance the robot and follow a planned path. The Euler-Lagrange method is used to derive the dynamic model of the system. It is used for the system stimulation and control design. In experiments, an inertial measurement unit is used to m

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LIN, SHIH-CHEN, and 林昰辰. "Kane’s Method Based Dynamic Modeling and LQR Balancing Control of a Unicycle Mobile Robot." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/64594h.

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碩士<br>逢甲大學<br>自動控制工程學系<br>106<br>The purpose of this thesis aims to derive equations of motion and to perform analysis of motion for a single-wheel robot. In order to derive equations of motion, coordinate systems are defined and Kane's method is applied. Then, a numerical simulation is established based on the equations of motion and with MATLAB/Simulink. In addition, the robot is equipped with one driving wheel and one flywheel, which are used to control the pitch angle and the roll angle of the robot body, respectively. Finally, verification is conducted by using numerical simulation progra

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Akhtar, Adeel. "Dynamic path following controllers for planar mobile robots." Thesis, 2011. http://hdl.handle.net/10012/6365.

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In the field of mobile robotics, many applications require feedback control laws that provide perfect path following. Previous work has shown that transverse feedback linearization is an effective approach to designing path following controllers that achieve perfect path following and path invariance. This thesis uses transverse feedback linearization and augments it with dynamic extension to present a framework for designing path following controllers for certain kinematic models of mobile robots. This approach can be used to design path following controllers for a large class of paths. While

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Book chapters on the topic "Unicycle robot"

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Roza, Ashton, Manfredi Maggiore, and Luca Scardovi. "Unicycle Formation Simulation Trials." In Distributed Coordination Theory for Robot Teams. Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-030-96087-2_9.

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Han, In-Woo, Jae-Won An, and Jang-Myung Lee. "Balancing Control of Unicycle Robot." In Advances in Intelligent Systems and Computing. Springer Berlin Heidelberg, 2013. http://dx.doi.org/10.1007/978-3-642-33926-4_63.

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Roza, Ashton, Manfredi Maggiore, and Luca Scardovi. "Unicycle Formations Coming to Rest." In Distributed Coordination Theory for Robot Teams. Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-030-96087-2_7.

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Roza, Ashton, Manfredi Maggiore, and Luca Scardovi. "Unicycle Formations with Parallel and Circular Motions." In Distributed Coordination Theory for Robot Teams. Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-030-96087-2_8.

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Michałek, Maciej, and Krzysztof R. Kozłowski. "Finite-time VFO Stabilizers for the Unicycle with Constrained Control Input." In Robot Motion and Control 2009. Springer London, 2009. http://dx.doi.org/10.1007/978-1-84882-985-5_3.

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Varela-Aldás, José, Fernando A. Chicaiza, and Víctor H. Andaluz. "Dynamics of a Unicycle-Type Wheeled Mobile Manipulator Robot." In Advances in Intelligent Systems and Computing. Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-32033-1_3.

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Pazderski, Dariusz, Paweł Szulczyński, and Krzysztof R. Kozłowski. "Kinematic Tracking Controller for Unicycle Mobile Robot Based on Polar-like Representation and Lyapunov Analysis." In Robot Motion and Control 2009. Springer London, 2009. http://dx.doi.org/10.1007/978-1-84882-985-5_5.

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Bruno, Giovanni di Dio. "Erwhi Hedgehog: A New Learning Platform for Mobile Robotics." In Makers at School, Educational Robotics and Innovative Learning Environments. Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-77040-2_32.

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AbstractErwhi Hedgehog is one of the smallest mobile robots. It enables mapping and vision analysis, and also displays machine learning features. Behaving like a small, curious animal, eager to explore the surroundings, the robot can be used to test navigation, mapping and localization algorithms, thus allowing the prototyping of new hardware and software for robotics. This application is particularly handy for educational robotics, at both high school and university level. On the one hand, the project is fully open source and open hardware under MIT license and available on Github, so everyon

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Li, Yan, Jae-Oh Lee, and Jangmyung Lee. "Attitude Control of the Unicycle Robot Using Fuzzy-Sliding Mode Control." In Intelligent Robotics and Applications. Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-33503-7_7.

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Andaluz, Victor H., Flavio Roberti, Juan Marcos Toibero, Ricardo Carelli, and Bernardo Wagner. "Adaptive Dynamic Path Following Control of an Unicycle-Like Mobile Robot." In Intelligent Robotics and Applications. Springer Berlin Heidelberg, 2011. http://dx.doi.org/10.1007/978-3-642-25486-4_56.

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Conference papers on the topic "Unicycle robot"

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Ashraf, Fawad Farooq, Hunaina Farid, Hafiz Zeeshan Iqbal Khan, Muhammad Farooq Haydar, and Jamshed Riaz. "State Estimation for a Unicycle Robot Using Multi-Rate Sensor Fusion: A Comparative Study." In 2023 20th International Bhurban Conference on Applied Sciences and Technology (IBCAST). IEEE, 2023. http://dx.doi.org/10.1109/ibcast59916.2023.10712947.

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Venturino, Antonello, Luigino Filice, and Giuseppe Franzè. "Grid-Based Receding Horizon Control for Unicycle Robots Under Logistic Operations." In 2024 IEEE 29th International Conference on Emerging Technologies and Factory Automation (ETFA). IEEE, 2024. http://dx.doi.org/10.1109/etfa61755.2024.10710915.

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Ming-Tzu Ho, Yusie Rizal, and Yi-Lung Chen. "Balance control of a unicycle robot." In 2014 IEEE 23rd International Symposium on Industrial Electronics (ISIE). IEEE, 2014. http://dx.doi.org/10.1109/isie.2014.6864782.

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Rosyidi, M. Anfa'ur, Eko Henfri Binugroho, S. Ekti Radin Charel, R. Sanggar Dewanto, and Dadet Pramadihanto. "Speed and balancing control for unicycle robot." In 2016 International Electronics Symposium (IES). IEEE, 2016. http://dx.doi.org/10.1109/elecsym.2016.7860969.

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Lee Jae-Oh, Han In-Woo, and Lee Jang-Myung. "Fuzzy sliding mode control of unicycle robot." In 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2011). IEEE, 2011. http://dx.doi.org/10.1109/urai.2011.6145875.

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ELkari, Badr, Hassan Ayad, and Abdeljalil ELkari. "Behavior architecture fuzzy controller for unicycle robot." In 2014 International Conference on Multimedia Computing and Systems (ICMCS). IEEE, 2014. http://dx.doi.org/10.1109/icmcs.2014.6911317.

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Shi, Junwei, Kaidi Zhang, Yupeng Duan, Jinglai Wu, and Yunqing Zhang. "Dynamics Analysis and Stability Control of a Lunar Unicycle Self-Balancing Robot." In WCX SAE World Congress Experience. SAE International, 2025. https://doi.org/10.4271/2025-01-8301.

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<div class="section abstract"><div class="htmlview paragraph">The unicycle self-balancing mobility system offers superior maneuverability and flexibility due to its unique single-wheel grounding feature, which allows it to autonomously perform exploration and delivery tasks in narrow and rough terrains. In this paper, a unicycle self-balancing robot traveling on the lunar terrain is proposed for autonomous exploration on the lunar surface. First, a multi-body dynamics model of the robot is derived based on quasi-Hamilton equations. A three-dimensional terramechancis model is used t

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Rafikova, Elvira, Paulo R. G. Kurka, and Marat Rafikov. "Optimal Linear State Feedback Time-Varying Regulator for a Unicycle Mobile Robot." In ASME 2008 9th Biennial Conference on Engineering Systems Design and Analysis. ASMEDC, 2008. http://dx.doi.org/10.1115/esda2008-59167.

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This paper proposes an optimal time-varying linear state feedback control for wheeled mobile robot of the unicycle type. The control law that stabilizes exponentially the motion of the robot to a given desired trajectory is found, after transformation of the cinematic model of the robot into a well-known Brocket integrator [1]. Numerical simulations are presented in order to demonstrate the effectiveness of the proposed control design.

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Do, K. D. "Formation tracking control of unicycle-type mobile robots." In 2007 IEEE International Conference on Robotics and Automation. IEEE, 2007. http://dx.doi.org/10.1109/robot.2007.363677.

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Gong, Daoxiong, Qi Pan, Guoyu Zuo, and Wenbo Deng. "LQR control for a self-balancing unicycle robot." In 2012 10th World Congress on Intelligent Control and Automation (WCICA 2012). IEEE, 2012. http://dx.doi.org/10.1109/wcica.2012.6358103.

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