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An Assistant System for Riding a Unicycle
M. Iwase,Y. Kanai,M. Kinoshita,S. Hatakeyama,Y. Kashimura,I. Hanazaki,T. Yokoyama,H. Higaki,K. Fujisawa 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2007 International Journal of Assistive Robotics and Me Vol.8 No.1
The final purpose of this study is to design a control system to assist in the skill of riding a unicycle. To realize such a system, it is necessary to make a mathematical model and to analyze the dynamics of the unicycle. It is ideal that the dynamics of a unicycle is kept as original as possible even if any automatic support control is required to assist the operator. Thus, this paper presents modeling of the unicycle and a control system design by the controlled Lagrangian to realize this type of controller.