Three Dimensional Dynamical Modeling of One-Wheel Robot

I.A. Smadi and Y. Fujimoto (Japan)


One wheel robot, modelling and simulation.


In this paper, step-by-step three-dimensional dynamic model of one-wheel robot is presented. The robot consists of one wheel and double inverted pendulum, under the assumption: the wheel rolling on a flat surface without slipping and the double inverted pendulum have negligible moments. As a first step in controlling this highly coupled, dynamically unstable, nonlinear system, linearizing the nonlinear system around equilibrium point, a linearized version of the one wheel robot has been obtained. Then, state feedback LQR controller is designed and implemented. In order to verify the validity of the proposed model, numerical simulations are presented.

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