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Implementation of Single-Wheeled Robots : GYROBO  

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)
Publication Information
Journal of the Institute of Electronics Engineers of Korea SC / v.44, no.4, 2007 , pp. 35-41 More about this Journal
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.
Keywords
Gyroscopic motion; single-wheeled robot;
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