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• W65220369 abstract "In this paper a three dimensional non-linear model has been derived to describe the dynamics of an unstable moment exchange unicycle robot. The robot uses a driving wheel to provide stabilization in longitudinal direc- tion, while a second moment exchange wheel with a large inertia is used for stabilization in lateral direction. For validation purposes, the resulting equations of motion are compared independently against the simulation results of a finite element package called SPACAR. The model includes the coupling between the lateral and longitudinal motion, which makes it possible to control the yaw angle and the model can be used to design a stabilizing feedback controller." @default.
• W65220369 created "2016-06-24" @default.
• W65220369 creator A5028154546 @default.
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• W65220369 date "2010-01-01" @default.
• W65220369 modified "2023-09-23" @default.
• W65220369 title "DYNAMIC MODELING OF A MOMENT EXCHANGE UNICYCLE ROBOT" @default.
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• W65220369 doi "https://doi.org/10.5220/0002938402160221" @default.
• W65220369 hasPublicationYear "2010" @default.
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