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http://dx.doi.org/10.5573/ieie.2014.51.4.210

Experimental Studies of Control of a One-wheel Robot by Modifying Design and Control Method  

Park, June Hyung (Mechatronics Engineering Department, Chungnam National University)
Ha, Min Soo (Mechatronics Engineering Department, Chungnam National University)
Jung, Seul (Mechatronics Engineering Department, Chungnam National University)
Publication Information
Journal of the Institute of Electronics and Information Engineers / v.51, no.4, 2014 , pp. 210-217 More about this Journal
Abstract
This paper presents experimental studies on controlling one-wheel robot, GYROBO. The previous one has the problem of falling down because the inside gimbal leans against one direction to make it balancing. This structural problem has been solved by redesigning the system. Gains obtained through experimental tasks are used as a gain scheduling method so that GYROBO is more stabilized. A line trajectory following control task is performed to test the driving control as well.
Keywords
One-wheel robot; balancing; gyroscopic effect; gain scheduling; driving control;
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Times Cited By KSCI : 3  (Citation Analysis)
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