Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2007.04a
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- Pages.255-257
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- 2007
Research on a Single Wheeled Robot : GYROBO
한 바퀴로 구동하는 로봇 GYROBO에 대한 연구
Abstract
In this paper, we develop a single wheeled robot that has one wheel to move. The single wheel robot is similar to a rolling disk relying on gyroscopic motions to balance. The Gyrobo consists of three actuators: a spin motor, a tilt motor and a drive motor. The spin motor spins a flywheel at high rate so that it provides the balancing stability to upright the robot. The tilt motor controls steering of the robot by gyroscopic effect. The drive motor make forward accelerated motion to the robot. We have built and tested the Gyrobo to turn and move forward.