Design of a gyroscopically stabilized single-wheeled robot
Conventional design of mobile robot ensures its stability by keeping the gravity vector through the center of mass inside the structure's polygon of support determined by the contact points between the structure and the ground. This assumption of quasi-static stability fails to hold when th...
| Main Author: | |
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| Format: | Proceeding Paper |
| Language: | English |
| Published: |
2004
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/30940/ http://irep.iium.edu.my/30940/1/Gyroscopically_stabilized_robot_t.Saleh.pdf |
| _version_ | 1848780359302381568 |
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| author | Saleh, Tanveer |
| author_facet | Saleh, Tanveer |
| author_sort | Saleh, Tanveer |
| building | IIUM Repository |
| collection | Online Access |
| description | Conventional design of mobile robot ensures its
stability by keeping the gravity vector through the center of mass
inside the structure's polygon of support determined by the
contact points between the structure and the ground. This
assumption of quasi-static stability fails to hold when the robots
moves at high speed as the inertial forces become significant
compared to the static gravitational force. On the otber hand, the
momentum of the moving structure can be exploited to enhance
stability if it is dynamically controlled. This principle was used
exploited to build a gyroscopically stabilized single-wheeled robot
by the researchers at Carnegie Melon University (CMU). Our
design follows the same principle for stability but uses a different
mechanism to effectuate the forward and reverse motion. |
| first_indexed | 2025-11-14T15:32:25Z |
| format | Proceeding Paper |
| id | iium-30940 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-14T15:32:25Z |
| publishDate | 2004 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-309402013-08-06T07:14:36Z http://irep.iium.edu.my/30940/ Design of a gyroscopically stabilized single-wheeled robot Saleh, Tanveer TA349 Mechanics of engineering. Applied mechanics Conventional design of mobile robot ensures its stability by keeping the gravity vector through the center of mass inside the structure's polygon of support determined by the contact points between the structure and the ground. This assumption of quasi-static stability fails to hold when the robots moves at high speed as the inertial forces become significant compared to the static gravitational force. On the otber hand, the momentum of the moving structure can be exploited to enhance stability if it is dynamically controlled. This principle was used exploited to build a gyroscopically stabilized single-wheeled robot by the researchers at Carnegie Melon University (CMU). Our design follows the same principle for stability but uses a different mechanism to effectuate the forward and reverse motion. 2004-12 Proceeding Paper PeerReviewed application/pdf en http://irep.iium.edu.my/30940/1/Gyroscopically_stabilized_robot_t.Saleh.pdf Saleh, Tanveer (2004) Design of a gyroscopically stabilized single-wheeled robot. In: Conference on Robotics, Automation and Mechatronics, 1 - 3 December 2004, Singapore. |
| spellingShingle | TA349 Mechanics of engineering. Applied mechanics Saleh, Tanveer Design of a gyroscopically stabilized single-wheeled robot |
| title | Design of a gyroscopically stabilized single-wheeled robot |
| title_full | Design of a gyroscopically stabilized single-wheeled robot |
| title_fullStr | Design of a gyroscopically stabilized single-wheeled robot |
| title_full_unstemmed | Design of a gyroscopically stabilized single-wheeled robot |
| title_short | Design of a gyroscopically stabilized single-wheeled robot |
| title_sort | design of a gyroscopically stabilized single-wheeled robot |
| topic | TA349 Mechanics of engineering. Applied mechanics |
| url | http://irep.iium.edu.my/30940/ http://irep.iium.edu.my/30940/1/Gyroscopically_stabilized_robot_t.Saleh.pdf |