The One-Wheel Cubli: A 3D inverted pendulum that can balance with a single reaction wheel

Nonlinear Control of the Inertia Wheel Pendulum

A One Wheel Flying Robot

Recent advances in technology have lead to growing interest in robotic application. More recently, a growing interest in unmanned aerial vehicles (UAVs) has been shown among the research community. Being able to design a vertical takeoff and landing (VTOL)-UAV, which is highly maneuverable and extremely stable, is an important contribution in the field of aerial robotics since potential applica...

Control of the Underactuated Inertia Wheel Inverted Pendulum for Stable Limit Cycle Generation

This paper deals with a control approach dedicated to stable limit cycle generation for underactuated mechanical systems. The proposed approach is based on partial nonlinear feedback linearization and dynamic control for optimal periodic reference trajectories tracking. The computation of the reference trajectories is performed in order to optimize the behavior of the whole dynamics of the syst...

A Self-stabilising Multipurpose Single-wheel Robot

This article presents a design process of a single-wheel robot which consists of building a theoretical model, designing a mechanical structure, simulating the design, building a prototype and testing it. It describes the control strategy for this vehicle, developed during the simulation process, and how it works for a ready built prototype. It mainly focuses on the self-stabilisation problem e...

design, development and evaluation of a single wheel tester

the single wheel tester is an experimental device used to measure wheel forces when studying the relation of soil and wheel in a soil bin or in the field. in the model under development, a special frame holding the test wheel is connected to a loading carriage by two pairs of vertical rails and four rollers to provide a floating connection. by applying a driving torque to the test wheel shaft, ...