Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Implementation and Balancing Control of One-Wheel Robot, GYROBO

외바퀴 구동 GYROBO의 제작 및 밸런싱 제어 구현

  • Kim, Pil-Kyo (TV Product Development Group, LG Display) ;
  • Park, Junehyung (Adavanced Research Team, HyunDai WIA) ;
  • Ha, Min Soo (Department of Mechatronics Engineering, Chungnam National University) ;
  • Jung, Seul (Department of Mechatronics Engineering, Chungnam National University)
  • Received : 2013.02.02
  • Accepted : 2013.04.18
  • Published : 2013.06.01
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Abstract

This paper presents the development and balancing control of GYROBO, a one wheeled mobile robot system. GYROBO is a disc type one wheel mobile robot that has three actuators, a drive motor, a spin motor, and a tilt motor. The dynamics and kinematics of GYROBO are analyzed, and simulation studies conducted. A one-wheeled robot, GYROBO is built and its balancing control is performed. Experimental studies of GYROBO's balancing abilities are conducted to demonstrate the gyroscopic effects generated by the spin and tilt angles of a flywheel.

Keywords

References

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