Hostname: page-component-78c5997874-v9fdk Total loading time: 0 Render date: 2024-11-05T04:21:26.125Z Has data issue: false hasContentIssue false
  • English
  • Français

Dynamic modeling and characteristics analysis of lateral-pendulum unicycle robot

Published online by Cambridge University Press:  02 September 2015

Yohanes Daud ,
Abdullah Al Mamun  and
Jian-Xin Xu
Yohanes Daud*
Affiliation:
Graduate Student in Department of Electrical and Computer Engineering, National University of Singapore, 4 Engineering Drive 3, 117576, Singapore. E-mail: [email protected]
Abdullah Al Mamun
Affiliation:
Associate Professor in Department of Electrical and Computer Engineering, National University of Singapore, 4 Engineering Drive 3, 117576Singapore. E-mail: [email protected]
Jian-Xin Xu
Affiliation:
Department of Electrical and Computer Engineering, National University of Singapore, 4 Engineering Drive 3, 117576Singapore. E-mail: [email protected]
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

Lateral-pendulum unicycle robot is a type of single-wheeled mobile robot which utilizes an inverted pendulum mounted laterally for its stabilization and control. Even though this concept was first mentioned in the 1980s, it has not been sufficiently explored especially from the theoretical point of view. Therefore, this robot represents a niche which is still open for more thorough research. This paper presents four contributions to the research of this particular robot. First, the complete model of the robot dynamics is derived and this model can facilitate more accurate study of the robot's static and dynamic behaviors. Secondly, two important constants namely (1) lateral-statics boundary and (2) lateral-statics constant, which are useful for the lateral stabilization, are derived and analyzed. Thirdly, turning constant, required for the control of the turning motion, is derived and used to study the achievable path curvature in maneuvering control. Lastly, dynamics couplings during steady linear motion and steady circular motion are studied and the necessity of integral action in the lateral controller for circular motion is shown and explained. Throughout this paper, numerical simulation is used intensively and two case studies are presented to illustrate the concepts.

Type
Articles
Information
Robotica , Volume 35 , Issue 3 , March 2017 , pp. 537 - 568
Copyright
Copyright © Cambridge University Press 2015 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1. Schoonwinkel, A., Design and Test of a Computer Stabilized Unicycle Ph.D. Thesis (Stanford University, 1987).Google Scholar
2. Vos, D. W. and von Flotow, A. H., “Dynamics and Nonlinear Adaptive Control of an Autonomous Unicycle: Theory and Experiments,” Proceedings of 29th Conference on Decision and Control, Honolulu, Hawaii, USA (1990).Google Scholar
3. Jin, H., Hwang, J. and Lee, J., “A balancing control strategy for a one-wheel pendulum robot based on dynamic model decomposition: Simulations and experiments,” IEEE/ASME Trans. Mech. 16 (4), 763–768 (Aug. 2011).Google Scholar
4. Xu, J.-X., Al Mamun, A., Daud, Y., “Pendulum-Balanced Autonomous Unicycle: Conceptual Design and Dynamics Model,” Proceedings of the 5th IEEE International Conference on Robotics, Automation and Mechatronics, Qingdao, China (2009).Google Scholar
5. Spong, M. W., “Swing-up control of the Acrobot,” IEEE International Conference on Robotics and Automation (1994).Google Scholar
6. Spong, M. W., Hutchinson, S. and Vidyasagar, M., Robot Modeling and Control (Wiley, New Jersey, USA, 2005).Google Scholar
7. Nakajima, R., Tsubouchi, T., Yuta, S. and Koyanagi, E., “A Development of a New Mechanism of an Autonomous Unicycle,” Proceedings of IROS (1997).Google Scholar
8. Brent Cardini, S., “A history of the monocycle: Stability and control from inside the wheel,” Control Syst. Mag. 26 (5), 22–26 (Oct. 2006).CrossRefGoogle Scholar
9. Majima, S., Kasai, T. and Kadohara, T., “A design of a control method for changing yaw direction of an underactuated unicycle robot,” Proceedings of TENCON (2006).CrossRefGoogle Scholar
10. Seo, S. Y., Hee Kim, S., Lee, S.-H., Han, S. H. and Sung Kim, H., “Simulation of Attitude Control of a Wheeled Inverted Pendulum,” International Conference on Control, Automation and Systems (2007).Google Scholar
11. Fujimoto, Y. and Uchida, S., “Three dimensional posture control of mono-wheel robot with roll rotatable torso,” Proceedings of International Conference on Mechatronics, Kumamoto, Japan (2007).CrossRefGoogle Scholar
12. Sheng, Z. and Yamafuji, K., “Postural stability of a human riding a unicycle and its emulation by a robot,” IEEE Trans. Robot. Autom. 13 (5), 709–720 (Oct. 1997).CrossRefGoogle Scholar