Please use this identifier to cite or link to this item: https://doi.org/10.1109/RAM.2013.6758577
Title: Properties of lateral-pendulum-controlled unicycle robot in states of balance and motion
Authors: Daud, Y.
Al Mamun, A. 
Xu, J.-X. 
Issue Date: 2013
Source: Daud, Y.,Al Mamun, A.,Xu, J.-X. (2013). Properties of lateral-pendulum-controlled unicycle robot in states of balance and motion. IEEE Conference on Robotics, Automation and Mechatronics, RAM - Proceedings : 162-167. ScholarBank@NUS Repository. https://doi.org/10.1109/RAM.2013.6758577
Abstract: We are constructing and studying a unicycle robot which balances and steers itself by swinging its pendulum sidewards. Our unicycle robot, automatic lateral-pendulum unicycle (ALP Cycle), has three main parts: wheel, chassis and pendulum. It is an underactuated robot with only two control inputs and five degrees of freedom. Given the dynamic model of ALP Cycle which we derived previously, we have investigated several interesting properties of ALP Cycle, which are the main topics of this paper. These properties include the relationship between lean angle and pendulum angle for balanced configuration, the relationship between forward and turning speeds when ALP Cycle moves in circle, and the behaviors of coupling disturbances in longitudinal and lateral motions when in circling maneuver. © 2013 IEEE.
Source Title: IEEE Conference on Robotics, Automation and Mechatronics, RAM - Proceedings
URI: http://scholarbank.nus.edu.sg/handle/10635/84115
ISBN: 9781479911998
ISSN: 2158219X
DOI: 10.1109/RAM.2013.6758577
Appears in Collections:Staff Publications

Show full item record
Files in This Item:
There are no files associated with this item.

SCOPUSTM   
Citations

3
checked on Feb 20, 2018

Page view(s)

12
checked on Feb 23, 2018

Google ScholarTM

Check

Altmetric


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.