Please use this identifier to cite or link to this item: https://doi.org/10.1109/RAMECH.2011.6070455
Title: Pendulum-balanced autonomous unicycle: Conceptual design and dynamics model
Authors: Xu, J.-X. 
Al Mamun, A. 
Daud, Y.
Issue Date: 2011
Source: Xu, J.-X.,Al Mamun, A.,Daud, Y. (2011). Pendulum-balanced autonomous unicycle: Conceptual design and dynamics model. IEEE Conference on Robotics, Automation and Mechatronics, RAM - Proceedings : 51-56. ScholarBank@NUS Repository. https://doi.org/10.1109/RAMECH.2011.6070455
Abstract: A new mechanism to balance an autonomous unicycle is explored which makes use of a simple pendulum. Mounted laterally on the unicycle chassis, the pendulum provides a means of controlling the unicycle balance in the lateral (left-right) direction. Longitudinal (forward-backward) balance is achieved by controlling the unicycle wheel, a mechanism exactly the same as that of wheeled inverted pendulum. In this paper, the pendulum-balancing concept is explained and the dynamics model of an autonomous unicycle balanced by such mechanism is derived by Lagrange-Euler formulation. The behavior is analyzed by dynamic simulation in MATLAB. Dynamics comparison with wheeled inverted pendulum and Acrobot is also performed. © 2011 IEEE.
Source Title: IEEE Conference on Robotics, Automation and Mechatronics, RAM - Proceedings
URI: http://scholarbank.nus.edu.sg/handle/10635/71383
ISBN: 9781612842509
ISSN: 2158219X
DOI: 10.1109/RAMECH.2011.6070455
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