Please use this identifier to cite or link to this item: https://doi.org/10.1109/ROBIO.2006.340169
Title: Line tracking of the Gyrobot - A gyroscopically stabilized single-wheeled robot
Authors: Zhu, Z.
Al Mamun, A. 
Vadakkepat, P. 
Lee, T.H. 
Issue Date: 2006
Source: Zhu, Z., Al Mamun, A., Vadakkepat, P., Lee, T.H. (2006). Line tracking of the Gyrobot - A gyroscopically stabilized single-wheeled robot. 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006 : 293-298. ScholarBank@NUS Repository. https://doi.org/10.1109/ROBIO.2006.340169
Abstract: The Gyrobot is a gyroscopically stabilized, single-wheeled robot. A fast spinning flywheel mounted inside the frame provides lateral stability of the wheel-shaped robot. Steering of the robot is effectuated by tilting the flywheel with the help of a tilt motor, and forward/backward motion is implemented by another motor mounted on the heavy platform. This structure of robot shows excellent dynamic stability and is, therefore, suitable for navigation in unknown, rough terrain. From this point of view, the Gyrobot has definite advantage over other types of wheeled robots. Moreover, the electronic components are placed inside the sealed shell of the wheel giving it an advantage in operations where navigation in wet surfaces is required, for example inspection of sewerage lines or chemical spills. In this paper, we report the design and fabrication of the Gyrobot and present the results of path following navigating algorithm designed for this robot. A linear feedback controller is adopted at this stage to control the tilt and forward/backward motion of the robot. ©2006 IEEE.
Source Title: 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
URI: http://scholarbank.nus.edu.sg/handle/10635/70801
ISBN: 1424405718
DOI: 10.1109/ROBIO.2006.340169
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