The Wheelbot: A Jumping Reaction Wheel Unicycle
2022
Article
ics
zwe-rob
Combining off-the-shelf components with 3D- printing, the Wheelbot is a symmetric reaction wheel unicycle that can jump onto its wheels from any initial position. With non-holonomic and under-actuated dynamics, as well as two coupled unstable degrees of freedom, the Wheelbot provides a challenging platform for nonlinear and data-driven control research. This letter presents the Wheelbot's mechanical and electrical design, its estimation and control algorithms, as well as experiments demonstrating both self-erection and disturbance rejection while balancing.
| Author(s): | A. René Geist and Jonathan Fiene and Naomi Tashiro and Zheng Jia and Sebastian Trimpe |
| Journal: | IEEE Robotics and Automation Letters |
| Volume: | 7 |
| Number (issue): | 4 |
| Pages: | 9683--9690 |
| Year: | 2022 |
| Publisher: | IEEE |
| Department(s): | Intelligent Control Systems, Robotics |
| Bibtex Type: | Article (article) |
| Paper Type: | Journal |
| DOI: | 10.1109/LRA.2022.3192654 |
| State: | Published |
| URL: | https://sites.google.com/view/wheelbot |
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BibTex @article{geist2022wheelbot,
title = {The Wheelbot: A Jumping Reaction Wheel Unicycle},
author = {Geist, A. René and Fiene, Jonathan and Tashiro, Naomi and Jia, Zheng and Trimpe, Sebastian},
journal = {IEEE Robotics and Automation Letters},
volume = {7},
number = {4},
pages = {9683--9690},
publisher = {IEEE},
year = {2022},
doi = {10.1109/LRA.2022.3192654},
url = {https://sites.google.com/view/wheelbot}
}
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