Please use this identifier to cite or link to this item:
https://doi.org/10.1109/RAMECH.2011.6070455
| DC Field | Value | |
|---|---|---|
| dc.title | Pendulum-balanced autonomous unicycle: Conceptual design and dynamics model | |
| dc.contributor.author | Xu, J.-X. | |
| dc.contributor.author | Al Mamun, A. | |
| dc.contributor.author | Daud, Y. | |
| dc.date.accessioned | 2014-06-19T03:23:08Z | |
| dc.date.available | 2014-06-19T03:23:08Z | |
| dc.date.issued | 2011 | |
| dc.identifier.citation | 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. <a href="https://doi.org/10.1109/RAMECH.2011.6070455" target="_blank">https://doi.org/10.1109/RAMECH.2011.6070455</a> | |
| dc.identifier.isbn | 9781612842509 | |
| dc.identifier.issn | 2158219X | |
| dc.identifier.uri | http://scholarbank.nus.edu.sg/handle/10635/71383 | |
| dc.description.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. | |
| dc.description.uri | http://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1109/RAMECH.2011.6070455 | |
| dc.source | Scopus | |
| dc.type | Conference Paper | |
| dc.contributor.department | ELECTRICAL & COMPUTER ENGINEERING | |
| dc.description.doi | 10.1109/RAMECH.2011.6070455 | |
| dc.description.sourcetitle | IEEE Conference on Robotics, Automation and Mechatronics, RAM - Proceedings | |
| dc.description.page | 51-56 | |
| dc.identifier.isiut | NOT_IN_WOS | |
| Appears in Collections: | Staff Publications | |
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