Study on the stability and motion control of a unicycle: (3rd report, characteristics of unicycle robot)

JSME International Journal, Series C: Dynamics, Control, Robotics, Design and Manufacturing

Volumn 39, Issue 3, 1996, Pages 560-568

  Sheng, Zaiquan ^a   Yamafuji, Kazuo ^a   Ulyanov, Sergei V ^a  

^a UNIVERSITY OF ELECTRO COMMUNICATIONS   (Japan)

Author keywords

Asymmetric Rotor; Closed Link Mechanism; Dynamics; Nonlinear System; Postural Stability; Unicycle

Indexed keywords

CONTROLLABILITY; DYNAMICS; EQUATIONS OF MOTION; MECHANISMS; MOTION CONTROL; NONLINEAR CONTROL SYSTEMS; ROTORS; SYSTEM STABILITY;

CLOSED LINK MECHANISMS; POSTURAL STABILITY; UNICYCLE ROBOT;

MOBILE ROBOTS;

EID: 0030231429     PISSN: 13408062     EISSN: None     Source Type: Journal    
DOI: 10.1299/jsmec1993.39.560     Document Type: Article

References (10)

1. Sheng, Z. and Yamafuji, K., Study on the Stability and Motion Control of a Unicycle (1st Report: Dynamics of a human riding a unicycle and its modeling by link mechanism), JSME Int. J., Ser. C, Vol. 38, No. 2 (1995), p. 249.
2. Sheng, Z. and Yamafuji, K., Study on the Stability and Motion Control of a Unicycle (2nd Report: Design of a unicycle robot and experimental results) (in Japanese), Trans. Jpn. Soc. Mech. Eng., Vol. 61, No. 583, C (1995), p. 1042.
3. Sheng, Z. and Yamafuji, K., Realization of a Human Riding a Unicycle by a Robot, '95 IEEE Int. Con. on Robotics and Automation, Nagoya (1995), p. 1319.
4. Ozaka, C., Kano, H. and Masubuchi, M., Stability of a Monocycle-Type Inverted Pendulum, Third Vehicle Automation Symp. of Japan Automation Control Society, (1980), p. 63.
5. Schoonwinkel, A., Design and Test of a Computer Stabilized Unicycle, Ph. D. Thesis, Stanford University (1987).
6. D. W. Vos and A. H. von Flotow, Dynamics and Nonlinear Adaptive Control of an Autonomous Unicycle (Theory and Experiment), Proc. of 29th Conf. on Decision and Control, (1990), p. 182.
7. Ito, S., Study on the Postural Stability and Locomotion Control of an Inverted Pendulum Type Unicycle (in Japanese), Master's Thesis, University of Electro-Communications (1994).
8. Sheng, Z. and Yamafuji, K., A General Method for the Direct Dynamic Computation of Closed Link Mechanisms, Journal of Robotics and Mechatronics, Vol. 6, No. 2 (1994), p. 169.
9. Sheng, Z., Yamafuji, K. and Ulyanov, S.V., Study on the Stability and Motion Control of a Unicycle (4th Report, Fuzzy Gain Schedule PD Controller for Managing Nonlinearity of System) JSME Int. J., Ser. C, Vol. 39, No. 3 (1996), p. 569.
10. Sheng, Z., Yamafuji, K. and Ulyanov, S.V., Study on the Stability and Motion Control of a Unicycle (5th Report, Experiment Results by Fuzzy Gain Schedule PD Controller) (to be printed in Journal of Robotics and Mechatronics) (1996).