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Please use this identifier to cite or link to this item: http://hdl.handle.net/10928/146

Title: 樽型形状の車輪をもつ一輪車型移動ロボットの旋回運動
Other Titles: Steering Motion of Unicycle Mobile Robot with Barrel Type Wheel
Authors: 竹囲, 年延
奥村, 純平
坪内, 孝司
Takei, Toshinobu
Okumura, Junpei
Tsubouchi, Takashi
Keywords: unicycle
mobile robot
inverted pendulum
steering control
trajectory following
Issue Date: 1-Dec-2011
Publisher: 成蹊大学理工学部
Abstract: We have developed motion control technology of navigation for an our unique mobile robot with wide-type unicycle wheel which is similar to barrel shape. For the navigation by the robot, it is necessary to control its translational and rotational velocity. However, the robot has not obvious steering mechanism. We take notice a relation that the rotational motion occurs by just the inclinational roll angle of the wheel. We developed a new method to control the rotational motion of the robot by using the relation, and succeed to path following by the robot. In this paper, we report the method and a result of an experiment.
URI: http://hdl.handle.net/10928/146
Appears in Collections:第48巻第2号

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