Journal of the Institute of Electronics Engineers of Korea SC (전자공학회논문지SC)

The Institute of Electronics and Information Engineers (대한전자공학회)
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Implementation of Single-Wheeled Robots : GYROBO

한 바퀴로 구동하는 로봇 GYROBO의 구현

  • Kim, Pil-Kyo (Intelligent Systems and Emotional Engineering (I.S.E.E)Lab., BK21 Mechatronics group, Chungnam National University) ;
  • Kim, Yeon-Seop (Intelligent Systems and Emotional Engineering (I.S.E.E)Lab., BK21 Mechatronics group, Chungnam National University) ;
  • Jung, Seul (Intelligent Systems and Emotional Engineering (I.S.E.E)Lab., BK21 Mechatronics group, Chungnam National University)
  • 김필교 (충남대학교 BK21 메카트로닉스그룹, 지능 시시템 및 감성 공학 실험실) ;
  • 김연섭 (충남대학교 BK21 메카트로닉스그룹, 지능 시시템 및 감성 공학 실험실) ;
  • 정슬 (충남대학교 BK21 메카트로닉스그룹, 지능 시시템 및 감성 공학 실험실)
  • Published : 2007.07.25
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Abstract

In this paper a single-wheeled robot called GYROBO is built and its hardware is implemented. The single-wheeled robot is similar to a rolling disk relying on gyroscopic motions to maintain its balance. The GYROBO consists of three actuators: a spin motor a tilt motor, and a drive motor. The spin motor spins a flywheel at a high rate so that it provides the balancing stability to upright the robot. The tilt motor controls steering of the robot by gyroscopic effect. The drive motor makes forward accelerated motion to the robot. Several models are designed. Experimental works of the GYROBO to turn and move forward have been presented.

본 논문에서는 한 바퀴로 구동하는 로봇 GYROBO을 제작하고 하드웨어를 구현하였다. 한 바퀴로 구동하는 로봇은 디스크와 같은 모양이고 자이로 움직임에 의해 균형을 잡는다. GYROBO는 스핀 모터, 기울기 모터, 그리고 드라이브 모터 등 3개의 구동기로 구성되어 있다. 스핀 모터는 고속으로 플라이휠을 구동하여 로봇이 균형을 잡을 수 있도록 한다. 딜트 로터는 자이로 움직임에 따라 로봇의 조향을 조절한다. 드라이브모터는 종방향 움직임을 조정한다. 몇 개의 모델을 디자인하였다. GYROBO의 움직임을 실험을 통해 검증하였다.

Keywords

References

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