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This monograph presents a novel concept of a mobile robot, which is
a single-wheel, gyroscopically stabilized robot. The robot is
balanced by a spinning wheel attached through a two-link
manipulator at the wheel bearing, and actuated by a drive motor.
This configuration conveys significant advantages including
insensitivity to attitude disturbances, high maneuverability, low
rolling resistance, ability to recover from falls, and amphibious
capability for potential applications on both land and water. This
book focuses on the dynamics and control aspects, including
modeling, model-based control, learning-based control, and shared
control with human operators. This novel mobile robot concept opens
up the science of dynamically stable systems with a single wheel
configuration. The book also presents considerations in concept,
design implementations, and kinematics modeling, as well as
experimental results from various algorithms and cases. The system
is a nonholonomic, underactuated, and highly nonlinear system, so
this book is appropriate for scientists and engineers with
interests in mobile robot, dynamics and control, as a research
reference and postgraduate textbook.
This monograph presents a novel concept of a mobile robot, which is
a single-wheel, gyroscopically stabilized robot. The robot is
balanced by a spinning wheel attached through a two-link
manipulator at the wheel bearing, and actuated by a drive motor.
This configuration conveys significant advantages including
insensitivity to attitude disturbances, high maneuverability, low
rolling resistance, ability to recover from falls, and amphibious
capability for potential applications on both land and water. This
book focuses on the dynamics and control aspects, including
modeling, model-based control, learning-based control, and shared
control with human operators. This novel mobile robot concept opens
up the science of dynamically stable systems with a single wheel
configuration. The book also presents considerations in concept,
design implementations, and kinematics modeling, as well as
experimental results from various algorithms and cases. The system
is a nonholonomic, underactuated, and highly nonlinear system, so
this book is appropriate for scientists and engineers with
interests in mobile robot, dynamics and control, as a research
reference and postgraduate textbook.
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