Creat membership Creat membership
Sign in

Forgot password?

Confirm
  • Forgot password?
    Sign Up
  • Confirm
    Sign In
Creat membership Creat membership
Sign in

Forgot password?

Confirm
  • Forgot password?
    Sign Up
  • Confirm
    Sign In
Collection
For ¥0.57 per day, unlimited downloads CREATE MEMBERSHIP Download

toTop

If you have any feedback, Please follow the official account to submit feedback.

Turn on your phone and scan

home > search >

Development of a self-balancing robot with a control moment gyroscope

Author:
Park, Ji-Hyun  Cho, Baek-Kyu  


Journal:
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS


Issue Date:
2018


Abstract(summary):

This study introduces a two-wheeled self-balancing mobile robot based on a control moment gyroscope module. Two-wheeled mobile robots are able to achieve better mobility and rotation in small spaces and to move faster than legged robots such as humanoid type robots. For this reason, the two-wheeled mobile robot is generally used as a mobile robot platform. However, to maintain its balance, the two-wheeled robot needs to use movements of its two wheels. When an unexpected disturbance affects the robot, the robot maintains its balance with movements of the wheels and tilting of the body. If the disturbance exceeds the response capability of the robot, the robot will lose its stability. At the same time, the safety of the robot may be put at risk by movements to maintain balance. To address these issues, a robot was designed with a control moment gyroscope module to improve balance while minimizing movement. When a disturbance is applied to the robot, the disturbance is estimated by a disturbance observer and the control moment gyroscope controller compensates the disturbance. Using the control moment gyroscope module, the robot can maintain balance with just small movements of its wheels. Improved performance and stability were verified with experiments and simulations.


VIEW PDF

The preview is over

If you wish to continue, please create your membership or download this.

Create Membership

Similar Literature

Submit Feedback

This function is a member function, members do not limit the number of downloads