Design and System Parameter’s Validation of the Unicycle Mobile Robot

Ab Rashid, Mohd Zamzuri and Mohd Aras, Mohd Shahrieel and Mohd Shah, Hairol Nizam and Lim , Wee Teck and Ibrahim, Zulkifilie (2012) Design and System Parameter’s Validation of the Unicycle Mobile Robot. In: First International Conference on Control, Automation and Information Sciences (ICCAIS 2012), November 26-29, 2012, Grand Hotel Saigon, ho chi minh vietnam.

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Unicycle mobile robot is a robot that can move and maneuver on one wheel. The ability of this robot to stand in the upright position and move without falling down is considered a tough challenge for the researchers to conduct the investigation on it. The ideas of developing unicycle mobile robot are inspired from a human who rides a unicycle. In a real life, when a human rides a unicycle, he needs to balance his position or roll angle by moving his two arms, wrist and body in the unison manner. Meanwhile the pitch angle of the rider can be stabilized by pedalling the unicycle using the two legs back and forth, in order to control the speed and the position of the unicycle’s wheel. Besides that, the yaw angle of the unicycle is stabilized by rotating the left and the right hands synchronously. Thus, in this research, a unicycle mobile robot has been designed and fabricated. The parameter from the unicycle’s model is acquired and used as the input to its dynamic modelling which has been developed previously.

Item Type: Conference or Workshop Item (Paper)
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
Divisions: Faculty of Electrical Engineering > Department of Mechatronics Engineering
Depositing User: Mohd Zamzuri Ab Rashid
Date Deposited: 20 May 2013 08:56
Last Modified: 28 May 2015 03:52
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