Abstract:

A new type of single-wheel robot was presented herein.This single-wheel  self-balancing robot had a single horizontal gyro structure.First,using the inertia and stability of gyro to turn a two dimensional unstable inverted pendulum system into a two dimensional quasi-stable inverted pendulum system.And then according to the  principle of precession, using the method of rotating counterweight on the system to recover the unbalanced attitude,thus this single-wheel robot had a strong ability to resist disturbances.The research focused on attitude unbalance and recovery of the single-wheel robot. Test prototype of single-wheel robot realized attitude stable on fixed point, unbalanced attitude recovering and walking, steering.

Key words: single-wheel robot, horizontal gyro, unbalanced recovery, rotating counterweight

摘要：

提出了一种新型独轮机器人。该独轮自平衡机器人具有单一水平陀螺结构,首先利用陀螺的定轴性和稳定性使一个二维倒立不稳定系统变为一个二维准稳定系统,然后根据进动原理，采用旋转配重法对系统进行失衡修正,使系统具有很强的抗扰动能力。重点研究了该独轮机器人姿态的失衡与恢复状态。实验模型机实现了独轮机器人的定点自稳定，姿态失衡恢复，以及行走、转向功能。

关键词: 独轮机器人, 水平陀螺, 失衡恢复, 随动旋转配重