独轮车机器人的发展和技术研究  

Development and Technology Research of Unicycle Robot

作　　者：陈小磊[1] 魏世民[1] 于秀丽[1] 

机构地区：[1]北京邮电大学自动化学院,北京100876

出　　处：《机电产品开发与创新》2010年第4期6-8,共3页Development & Innovation of Machinery & Electrical Products

摘　　要：独轮车机器人是一多变量、强耦合、非线性的复杂动力学系统,它作为一种全新概念的移动机器人,是控制理论和动力学研究的新平台。对国内外独轮车机器人研究现状进行了广泛调研,其中日本的骑独轮车机器人是这一领域的代表,美国也做了大量的工作,而中国科研单位在此方面的研究刚刚起步。文中概括并分析了独轮车机器人建模和平衡设计、传感器系统和机器人控制算法等关键技术。Being a new type of mobile robot, the unicycle robot which is a platform of studying on control theory and dynamics has a complex dynamic system of multi-variable, strong coupling, nonlinear. The current status about unicycle robot in oversea and civil is widely surveyed. Especially, riding unicycle robot of Japan is a delegate in this field and a lot of research work on unicycle robot has been done in America. Meanwhile, many institutions have just started working at unicycle robot in China. The key technologies about modeling and the balance of unicycle robot, system of the sensor and robot control algorithms are generalized and analyzed.

关 键 词：独轮车机器人 非线性 动态稳定 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]