China Mechanical Engineering ›› 2016, Vol. 27 ›› Issue (06): 726-731.
Previous Articles Next Articles
Li Zhihong;Chen Run'en;Cheng Xiaodong;Wang Weichao
Online:
2016-03-25
Published:
2016-03-24
黎志宏;陈润恩;程晓东;王伟超
CLC Number:
Li Zhihong, Chen Run'en, Cheng Xiaodong, Wang Weichao. Research on Single-wheel Self-balancing Robot Based on Horizontal Gyro Structure[J]. China Mechanical Engineering, 2016, 27(06): 726-731.
黎志宏, 陈润恩, 程晓东, 王伟超. 水平陀螺结构独轮自平衡机器人研究[J]. 中国机械工程, 2016, 27(06): 726-731.
[1]朱磊磊,陈军.轮式移动机器人综述[J].机床与液压,2009,37(8): 242-247. Zhu Leilei, Chen Jun. A Review of Wheeled Mobile Robot [J]. Machine Tool and Hydraulics, 2009,37(8): 242-247. [2]王启源.独轮自平衡机器人建模与控制研究[D].北京:北京工业大学,2011. [3]Schoonwikel A. Design and Test of a Computer Stabilized Unicycle [D]. California: Stanford University, 1987. [4]Brown H B, Xu Y S. A Single-wheel Gyroscopically Stabilized Robot [J]. IEEE Robotics and Automation Magazine, 1997, 4(3): 39-44. [5]Dao Minquan, Liu Kangzhi. Gain-scheduled Stabilization Control of A Unicycle [J]. JSME International Journal, 2005, 48(4): 649-656. [6]Murata Manufacturing Co., Ltd. Murata Boy and Murata Girl .(2008-09-23)[2015-03-06]. http://www.murata.com/zh-cn/about/mboymgirl/mgirl. [7]Honda Motor Co., Ltd. U3-X . (2009-09-24)[2015-03-06].http://www.honda.co.jp/robotics/u3x/. [8]Lauwers T B, Kantor G A, Hollis R L. A Dynamically Stable Single Wheeled Mobile Robot with Inverse Mouse-Ball Drive [C]//Proceedings of the 2006 IEEE International Conference of Robotics and Automation.Orlando, 2006: 2884-2889. [9]朱晓庆,阮晓钢,孙荣毅,等.具备偏航能力的独轮机器人[J].北京工业大学学报,2014,40(7): 1099-1104. Zhu Xiaoqing, Ruan Xiaogang, Sun Rongyi, et al. Single-wheel Robots with Yaw Ability [J]. Journal of Beijing University of Technology, 2014, 40(7): 1099-1104. [10]Cieslak P, Buratowski T,Uhl T, et al. The Mono-wheel Robot with Dynamic Stabilization [J]. Robotics and Autonomous Systems, 2011, 59(9): 611-619. [11]Lee J H, Shin H J, Lee S J, et al. Balancing Control of a Single-wheel Inverted Pendulum System Blowers: Evolution of Mechatronics Capstone Design[J].Mechatronics, 2013, 23(8):926-932. [12]刘延柱.陀螺力学[M].2版.北京:科学出版社,2009. [13]许江宁,刘强.陀螺原理及应用[M].北京:国防工业出版社,2009. |
[1] | YIN Meng, XU Zhigang, ZHAO Zhiliang, HAN Wei, . Design and Master-Slave Control of Dexterous Hands with Five Fingers Based on Tendon-sheath Transmission#br# [J]. China Mechanical Engineering, 2021, 32(08): 951-959. |
[2] | WANG Fengxu, XING Zhiguang, YANG Pengpeng, LIN Jun, ZHAO Jianwen, . Study on Steady-state Heat Transfer of Soft Manipulators with Variable Stiffness Based on Low-melting-point Alloy Phase Transition [J]. China Mechanical Engineering, 2021, 32(07): 793-798. |
[3] | LI Jingyi, YAO Ligang, DONG Hui. Motion Detection for Soft Manipulators Based on Three-wire Structures [J]. China Mechanical Engineering, 2021, 32(06): 721-728. |
[4] | LI Bing1;ZHANG Yongde1;YUAN Lipeng2;ZHU Guangqiang3;DAI Xuesong1;SU Wenhai3. Predictive Control of Plantar Force and Motion Stability of Hydraulic Quadruped Robot [J]. China Mechanical Engineering, 2021, 32(05): 523-532. |
[5] | YAO Daojin1;DONG Wengtao1;WANG Xiaoming1;YANG Lin2. Stable Control of Underactuated Biped Walking for Uneven Ground [J]. China Mechanical Engineering, 2021, 32(02): 180-187,194. |
[6] |
SHEN Yun1;XIE Rongli2;ZHAO Yanna3;FU Zhuang1;WANG Yao1;ZHANG Jun2;FEI Jian2.
Adaptive Curved Breast Ultrasound Scanning Method Based on Improved Impedance Control
[J]. China Mechanical Engineering, 2021, 32(02): 195-203.
|
[7] | XIE Dongfu1;LUO Yufeng1,2;SHI Zhixin1;LIU Yande2. Research on Cooperative Modes and Tipping Stability of Multiple Mobile Robots [J]. China Mechanical Engineering, 2020, 31(20): 2472-2485. |
[8] | WANG Xinyu;QIN Wei;SUN Xiaojun;HU Xiaoliang. Nonlinear Synchronous Robust Control for 3-PPR Parallel Servo Platforms [J]. China Mechanical Engineering, 2020, 31(19): 2269-2275. |
[9] | FAN Zenghua1;RONG Weibin2 ;LIU Zixiao1 ;TIAN Yebing1. A Dynamic Detection Method of Capillary Forces Based on Microscopic Vision [J]. China Mechanical Engineering, 2020, 31(19): 2290-2294,2303. |
[10] | WU Jinhui1,2;TAO Yourui1,2. Review on Research Status of Positioning Accuracy Reliability of Industrial Robots [J]. China Mechanical Engineering, 2020, 31(18): 2180-2188. |
[11] | LI Yang1,2,3;LIU Ziming1,2,4;CHEN Qingying1,2,3. Decoupling Active Caster Omnidirectional Mobile Robot Tracking Control Considering Slip Interferences [J]. China Mechanical Engineering, 2020, 31(18): 2247-2253. |
[12] | YAO Haifeng1;LIU Wei2;ZHENG Xiaowen1;ZHANG Lansheng2;LIU Fuxin2;WU Miao1. Study on Posture Determination Method for Holes of Rock Drilling Robots with Improved Architecture [J]. China Mechanical Engineering, 2020, 31(18): 2254-2261,2267. |
[13] | YAO Jiantao;CHEN Xinbo;CHEN Juntao;WEI Chunjie;ZHANG Shuai;LI Haili;ZHAO Yongsheng. Design and Analysis of Soft Manipulator Teleoperation Systems [J]. China Mechanical Engineering, 2020, 31(16): 1968-1977. |
[14] | WANG Liang1;AN Xingyun2;ZHANG Xueqin2;WANG Yilin1;ZHANG Yisheng1. Research and Application of Variable Speed Cooperative Transfer Control Strategy of Dual Manipulators [J]. China Mechanical Engineering, 2020, 31(16): 1985-1990. |
[15] | LIU Hongyi, FAN Rui, GUO Jiangzhen, ZHANG Wei, ZHAO Qinzhi, CHEN Wuyi. Multi-axis Loading Device for Reliability Tests of CNC Machine Tools [J]. China Mechanical Engineering, 2020, 31(13): 1606-1612. |
Viewed | ||||||
Full text |
|
|||||
Abstract |
|
|||||