@inproceedings{f0260d6dcc824fa3868437b97e9468ee,
title = "Dynamics modeling and postural stability control of a unicycle robot",
abstract = "This paper presents a dynamic model of a unicycle robot which consists of a wheel and two momentum wheels. However, the dynamic model of the unicycle robot built in this paper is non-linear. By expanding the non-linear items in Taylor series around an equilibrium point, the non-linear dynamic model of the unicycle robot is linearized. And the linearized dynamic model of the unicycle robot is simplified into state equation. Based on the linearized state equation, a state feedback algorithm is designed to maintain postural stability of the unicycle robot. After completing the postural stability control algorithm, a simulation model is developed using Simulink. The capability and performance of the algorithm is verified.",
keywords = "Dynamic model, Postural stability, Unicycle robot",
author = "Long Zhao and Xiaobin Zhang and Qiang Xu and Junhong Ji",
note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 7th International Conference on Fluid Power and Mechatronics, FPM 2015 ; Conference date: 05-08-2015 Through 07-08-2015",
year = "2015",
month = nov,
day = "24",
doi = "10.1109/FPM.2015.7337287",
language = "英语",
series = "Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1123--1127",
booktitle = "Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015",
address = "美国",
}