• 한국정밀공학회지
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• 제24권4호
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• pp.68-75
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• 2007

In this study, the ultimate goal is to acquire stability when turning around efficiently by using the controller which is applied partial feedback linearization of One-wheel Unicycle Robot. When moving around, linear controller could result in unstable factor according to widening operation range. So in order to reduce instability, 1 have developed Non-linear Controller using Partial Feedback Linearization. Compared with linear controller, Non-linear Controller guarantees the superiority of Regulating Control and Tracking Control in direct and also revolution motion of Robot. I'm sure of the Non-linear controller performance through many experiments.

• 한국산업융합학회 논문집
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• 제19권2호
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• pp.81-87
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• 2016

This paper presents a new approach to control of stable motion of single wheel driving robot system of a pitch that is controlled by an in-wheel motor and a roll that is controlled by a reaction wheel. This robot doesn'thave any actuator for a yaw axis control, which makes the derivation of the dynamics relatively simple. The Lagrange equations was applied to derive the dynamic equations of the one wheel driving robot to implement the dynamic speed control of the mobile robot. To achieve the real time speed control of the unicycle robot, the sliding mode control and optical regulator are utilized to prove the reliability while maintaining the desired speed tracking performance. In the roll controller, the sigmoid-function based robust controller has been adopted to reduce the vibration by the situation function. The optimal controller has been implemented for the pitch control to drive the unicycle robot to follow the desired velocity trajectory in real time using the state variables of pitch angle, angular velocity, angle and angular velocity of the driving wheel. The control performance of the control systems from a single dynamic model has been illustrated by the real experiments.

• 제어로봇시스템학회논문지
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• 제20권9호
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• pp.895-899
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• 2014

This paper presents the balancing control of a unicycle robot using air power. Since the robot has one wheel to move forward and backward, the balancing control is quite challenging. To control the balancing angle, the accurate angle estimation by a tilt and a gyro sensor is required a priori. A complementary filter is implemented to eliminate the defects of two sensors and to fuse together to estimate an accurate balancing angle. The optimal design of air ducts is found empirically. Experimental studies of the balancing control of a unicycle robot confirm that the robot is well regulated without falling down.

• 로봇학회논문지
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• 제3권4호
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• pp.331-337
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• 2008

The field of robots is being widely accepted as a new technology today. Many robots are produced continuously to impart amusement to people. Especially the robot which operates with a wheelbarrow was enough of a work of art to arouse excitement in the audiences. All the wheelbarrow robots share the same technology in that the direction of roll and pitch are acting as balance controllers, allowing the robots to maintain balance for a long period by continuously moving forward and backward. However one disadvantage of this technology is that they cannot avoid obstacles in their way. Therefore movement in sideways is a necessity. For the control of rotation of yawing direction, the angle and direction of rotation are adjusted according to the velocity and torque of rotation of a motor. Therefore this study aimed to inquire into controlling yawing direction, which is responsible for rotation of a robot. This was followed by creating a simulation of a wheelbarrow robot and equipping the robot with a yawing direction controlling device in the center of the body so as to allow sideway movements.