2002 · 107 citations · 1 references
EngineeringAutonomous SystemsRobotics EngineeringActuatorsRobot DynamicsRoboticsActuation SystemsKinematics Of Vehicle MotionMotion ControlRide DynamicsVehicle ControlWheeled LocomotionControl Law DesignGyroscopesGyroscopic EffectsGyroscopic MotionGyroscopic StabilizationTorque
The paper presents a bicycle equipped with gyroscopic stabilization that enables autonomous straight‑line and curved motion. The stabilization system uses two counter‑rotating gyroscopes whose precessional torque is regulated by an actuator control law to maintain balance. The generated gyroscopic torque successfully counteracts the destabilizing torque from gravity, stabilizing the bicycle.
A bicycle with a gyroscopic stabilisation capable of autonomous motion along a straight line as well as along a curve is described. The stabilisation unit consists of two coupled gyroscopes spinning in opposite directions. It makes use of a gyroscopic torque due to the precession of gyroscopes. This torque counteracts the destabilising torque due to gravity forces. The control law of the actuator drive making the gyroscopes to process is described.
1
A single-wheel, gyroscopically stabilized robot
H.B. Brown, Yangsheng Xu · 2002 · 79 citations
Engineering, Mechatronics Engineering, Robotics Engineering +17