Control of Single Wheel Robots (Springer Tracts in Advanced Robotics).

Xu, Yangsheng and Yongsheng Ou:

ISBN 10: 3540281843 / ISBN 13: 9783540281849

Published by Springer Verlag, 2005

About this Item

8°, 188 Seiten mit 122 Abb. und 34 Tabellen, farbig illustr. OPbd. - sehr guter Zustand, wie neu - 2005. b72504 ISBN: 9783540281849 Sprache: Englisch Gewicht in Gramm: 550.

Seller Inventory # 76661

Bibliographic Details

• Title: Control of Single Wheel Robots (Springer Tracts in Advanced Robotics).
• Publisher: Springer Verlag
• Publication Date: 2005
• Language: English
• ISBN 10: 3540281843
• ISBN 13: 9783540281849
• Binding: Hardcover
• Condition: Wie neu
• Dust Jacket Condition: Dust Jacket Included
• Weight: 550 grams
• Seller catalogs:
  • Technik

About this title

Synopsis

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.