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김필교(Pil-Kyo Kim),박준형(Junehyung Park),하민수(Min Soo Ha),정슬(Seul Jung) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.6
This paper presents the development and balancing control of GYROBO, a one wheeled mobile robot system. GYROBO is a disc type one wheel mobile robot that has three actuators, a drive motor, a spin motor, and a tilt motor. The dynamics and kinematics of GYROBO are analyzed, and simulation studies conducted. A one-wheeled robot, GYROBO is built and its balancing control is performed. Experimental studies of GYROBO"s balancing abilities are conducted to demonstrate the gyroscopic effects generated by the spin and tilt angles of a flywheel.