Control of the Gyrover : a single-wheel gyroscopically stabilized robot
The Gyrover is a single wheel gyroscopically stabilized mobile robot developed at Carnegie Mellon University. An internal pendulum serves as a counter weight for a drive motor that causes fore/aft motion, while a tilt-mechanism on a large gyroscope provides a mechanism for lateral actuation. In this...
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| Other Authors: | , |
| Format: | article |
| Language: | English |
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1999
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| Online Access: | https://hdl.handle.net/20.500.12008/20800 |
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| _version_ | 1868889950982766592 |
|---|---|
| author | Tsai, S |
| author2 | Ferreira, Enrique Paredis, C |
| author2_role | author author |
| author_browse | Ferreira, Enrique Paredis, C Tsai, S |
| author_facet | Tsai, S Ferreira, Enrique Paredis, C |
| author_role | author |
| collection | COLIBRI |
| dc.creator.none.fl_str_mv | Tsai, S Ferreira, Enrique Paredis, C |
| dc.date.none.fl_str_mv | 1999 2019-05-29T15:28:19Z 2019-05-29T15:28:19Z 20190528 |
| dc.identifier.none.fl_str_mv | Tsai, S., Ferreira, Enrique, Paredis, C. Control of the Gyrover : a single-wheel gyroscopically stabilized robot [en línea] IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients, 1999. https://hdl.handle.net/20.500.12008/20800 |
| dc.language.none.fl_str_mv | en eng |
| dc.publisher.none.fl_str_mv | IEEE |
| dc.relation.none.fl_str_mv | IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients, 1999. Proceedings. |
| dc.rights.none.fl_str_mv | info:eu-repo/semantics/openAccess |
| dc.source.none.fl_str_mv | reponame:COLIBRI instname:Universidad de la República instacron:Universidad de la República |
| dc.subject.none.fl_str_mv | State feedback Stability Wheels Mobile robots Counting circuits Gyroscopes Linear feedback control systems Linear programming Kalman filters |
| dc.title.none.fl_str_mv | Control of the Gyrover : a single-wheel gyroscopically stabilized robot |
| dc.type.none.fl_str_mv | Artículo info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion |
| description | The Gyrover is a single wheel gyroscopically stabilized mobile robot developed at Carnegie Mellon University. An internal pendulum serves as a counter weight for a drive motor that causes fore/aft motion, while a tilt-mechanism on a large gyroscope provides a mechanism for lateral actuation. In this paper we develop a detailed dynamic model for the Gyrover and use this model in an extended Kalman filter to estimate the complete state. A linearized version of the model is used to develop a state feedback controller. The design methodology is based on a semi-definite programming procedure which optimize the stability region subject to a set of linear matrix inequalities that capture stability and pole placement constraints. Finally, the controller design combined with the extended Kalman filter are verified on the prototype. |
| eu_rights_str_mv | openAccess |
| format | article |
| id | anni_0ca87aefdb2358aa0fc1ee594df15fdb |
| identifier_str_mv | Tsai, S., Ferreira, Enrique, Paredis, C. Control of the Gyrover : a single-wheel gyroscopically stabilized robot [en línea] IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients, 1999. |
| instacron_str | Universidad de la República |
| institution | Universidad de la República |
| instname_str | Universidad de la República |
| language | eng |
| language_invalid_str_mv | en |
| network_acronym_str | anni |
| network_name_str | oai-lr-anni |
| oai_identifier_str | oai:colibri.udelar.edu.uy:20.500.12008/20800 |
| publishDate | 1999 |
| publishDateSort | 1999 |
| publisher.none.fl_str_mv | IEEE |
| reponame_str | COLIBRI |
| repository.mail.fl_str_mv | |
| repository.name.fl_str_mv | |
| repository_id_str | |
| spelling | Control of the Gyrover : a single-wheel gyroscopically stabilized robotTsai, SFerreira, EnriqueParedis, CState feedbackStabilityWheelsMobile robotsCounting circuitsGyroscopesLinear feedback control systemsLinear programmingKalman filtersThe Gyrover is a single wheel gyroscopically stabilized mobile robot developed at Carnegie Mellon University. An internal pendulum serves as a counter weight for a drive motor that causes fore/aft motion, while a tilt-mechanism on a large gyroscope provides a mechanism for lateral actuation. In this paper we develop a detailed dynamic model for the Gyrover and use this model in an extended Kalman filter to estimate the complete state. A linearized version of the model is used to develop a state feedback controller. The design methodology is based on a semi-definite programming procedure which optimize the stability region subject to a set of linear matrix inequalities that capture stability and pole placement constraints. Finally, the controller design combined with the extended Kalman filter are verified on the prototype.IEEE2019-05-29T15:28:19Z2019-05-29T15:28:19Z199920190528Artículoinfo:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionTsai, S., Ferreira, Enrique, Paredis, C. Control of the Gyrover : a single-wheel gyroscopically stabilized robot [en línea] IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients, 1999.https://hdl.handle.net/20.500.12008/20800reponame:COLIBRIinstname:Universidad de la Repúblicainstacron:Universidad de la RepúblicaenengIEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients, 1999. Proceedings.Las obras depositadas en el Repositorio se rigen por la Ordenanza de los Derechos de la Propiedad Intelectual de la Universidad De La República. (Res. Nº 91 de C.D.C. de 8/III/1994 – D.O. 7/IV/1994) y por la Ordenanza del Repositorio Abierto de la Universidad de la República (Res. Nº 16 de C.D.C. de 07/10/2014)info:eu-repo/semantics/openAccessoai:colibri.udelar.edu.uy:20.500.12008/208002026-04-14T10:14:55Z |
| spellingShingle | Control of the Gyrover : a single-wheel gyroscopically stabilized robot Tsai, S State feedback Stability Wheels Mobile robots Counting circuits Gyroscopes Linear feedback control systems Linear programming Kalman filters |
| status_str | publishedVersion |
| title | Control of the Gyrover : a single-wheel gyroscopically stabilized robot |
| title_full | Control of the Gyrover : a single-wheel gyroscopically stabilized robot |
| title_fullStr | Control of the Gyrover : a single-wheel gyroscopically stabilized robot |
| title_full_unstemmed | Control of the Gyrover : a single-wheel gyroscopically stabilized robot |
| title_short | Control of the Gyrover : a single-wheel gyroscopically stabilized robot |
| title_sort | Control of the Gyrover : a single-wheel gyroscopically stabilized robot |
| topic | State feedback Stability Wheels Mobile robots Counting circuits Gyroscopes Linear feedback control systems Linear programming Kalman filters |
| url | https://hdl.handle.net/20.500.12008/20800 |