Please use this identifier to cite or link to this item: https://scholarbank.nus.edu.sg/handle/10635/69850
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dc.titleDesign of a gyroscopically stabilized single-wheeled robot
dc.contributor.authorSaleh, T.
dc.contributor.authorHann, Y.H.
dc.contributor.authorZhen, Z.
dc.contributor.authorAl Mamun, A.
dc.contributor.authorPrahlad, V.
dc.date.accessioned2014-06-19T03:05:23Z
dc.date.available2014-06-19T03:05:23Z
dc.date.issued2004
dc.identifier.citationSaleh, T.,Hann, Y.H.,Zhen, Z.,Al Mamun, A.,Prahlad, V. (2004). Design of a gyroscopically stabilized single-wheeled robot. 2004 IEEE Conference on Robotics, Automation and Mechatronics : 904-908. ScholarBank@NUS Repository.
dc.identifier.isbn0780386469
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/69850
dc.description.abstractConventional design of mobile robot ensures its stability by keeping the gravity vector through the center of mass inside the structure's polygon of support determined by the contact points between the structure and the ground. This assumption of quasi-static stability fails to hold when the robots moves at high speed as the inertial forces become significant compared to the static gravitational force. On the other hand, the momentum of the moving structure can be exploited to enhance stability if it is dynamically controlled. This principle was used exploited to build a gyroscopically stabilized single-wheeled robot by the researchers at Carnegie Melon University (CMU). Our design follows the same principle for stability but uses a different mechanism to effectuate the forward and reverse motion.
dc.sourceScopus
dc.typeConference Paper
dc.contributor.departmentELECTRICAL & COMPUTER ENGINEERING
dc.description.sourcetitle2004 IEEE Conference on Robotics, Automation and Mechatronics
dc.description.page904-908
dc.identifier.isiutNOT_IN_WOS
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