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|Title:||Pendulum-balanced autonomous unicycle: Conceptual design and dynamics model|
|Authors:||Xu, J.-X. |
Al Mamun, A.
|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|
|Appears in Collections:||Staff Publications|
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