9783540281849: Control of Single Wheel Robots: 20
Rilegato
ISBN 10: 3540281843 ISBN 13: 9783540281849
Casa editrice: Springer-Nature New York Inc, 2005

Sinossi

This monograph presents a novel concept of a mobile robot, which is a single-wheel, gyroscopically stabilized robot. The robot is balanced by a spinning wheel attached through a two-link manipulator at the wheel bearing, and actuated by a drive motor. This configuration conveys significant advantages including insensitivity to attitude disturbances, high maneuverability, low rolling resistance, ability to recover from falls, and amphibious capability for potential applications on both land and water. This book focuses on the dynamics and control aspects, including modeling, model-based control, learning-based control, and shared control with human operators. This novel mobile robot concept opens up the science of dynamically stable systems with a single wheel configuration. The book also presents considerations in concept, design implementations, and kinematics modeling, as well as experimental results from various algorithms and cases. The system is a nonholonomic, underactuated, and highly nonlinear system, so this book is appropriate for scientists and engineers with interests in mobile robot, dynamics and control, as a research reference and postgraduate textbook.

Le informazioni nella sezione "Riassunto" possono far riferimento a edizioni diverse di questo titolo.

Dalla quarta di copertina

This monograph presents a novel concept of a mobile robot, which is a single-wheel, gyroscopically stabilized robot. The robot is balanced by a spinning wheel attached through a two-link manipulator at the wheel bearing, and actuated by a drive motor. This configuration conveys significant advantages including insensitivity to attitude disturbances, high maneuverability, low rolling resistance, ability to recover from falls, and amphibious capability for potential applications on both land and water. This book focuses on the dynamics and control aspects, including modeling, model-based control, learning-based control, and shared control with human operators. This novel mobile robot concept opens up the science of dynamically stable systems with a single wheel configuration. The book also presents considerations in concept, design implementations, and kinematics modeling, as well as experimental results from various algorithms and cases. The system is a nonholonomic, underactuated, and highly nonlinear system, so this book is appropriate for scientists and engineers with interests in mobile robot, dynamics and control, as a research reference and postgraduate textbook.

Le informazioni nella sezione "Su questo libro" possono far riferimento a edizioni diverse di questo titolo.

Editore
Springer-Nature New York Inc
Data di pubblicazione
2005
Lingua
Inglese
ISBN 10 
3540281843
ISBN 13 
9783540281849
Rilegatura
Copertina rigida
Numero di pagine
188
Contatto del produttore
non disponibile
Persona responsabile
CMN Printpool Inh. Mathis Neumann
https://www.also.com/ec/cms5/en_6000/6000/index.jsp

Friedrich-Karl-Str. 9
Hamburg
Germania

Altre edizioni note dello stesso titolo

9783642066399: Control of Single Wheel Robots: 20

Edizione in evidenza

ISBN 10:  3642066399 ISBN 13:  9783642066399
Casa editrice: Springer, 2010
Brossura