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- W4285597227 abstract "Combining off-the-shelf components with 3D-printing, the Wheelbot is a symmetric reaction wheel unicycle that can jump onto its wheels from any initial position. With non-holonomic and under-actuated dynamics, as well as two coupled unstable degrees of freedom, the Wheelbot provides a challenging platform for nonlinear and data-driven control research. This paper presents the Wheelbot's mechanical and electrical design, its estimation and control algorithms, as well as experiments demonstrating both self-erection and disturbance rejection while balancing." @default.
- W4285597227 created "2022-07-16" @default.
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- W4285597227 date "2022-07-14" @default.
- W4285597227 modified "2023-09-26" @default.
- W4285597227 title "The Wheelbot: A Jumping Reaction Wheel Unicycle" @default.
- W4285597227 doi "https://doi.org/10.48550/arxiv.2207.06988" @default.
- W4285597227 hasPublicationYear "2022" @default.
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