Table of contents

  1. Front Matter
  2. Yangsheng Xu, Yongsheng Ou
    Pages 1-12
  3. Yangsheng Xu, Yongsheng Ou
    Pages 13-32
  4. Yangsheng Xu, Yongsheng Ou
    Pages 33-71
  5. Yangsheng Xu, Yongsheng Ou
    Pages 73-117
  6. Yangsheng Xu, Yongsheng Ou
    Pages 119-149
  7. Yangsheng Xu, Yongsheng Ou
    Pages 151-173
  8. Yangsheng Xu, Yongsheng Ou
    Pages 175-177
  9. Back Matter

About this book


This monograph presents a novel concept of a mobile robot, which is a single-wheel, gyroscopically stabilized robot. The robot is balanced by a spinning wheel attached through a two-link manipulator at the wheel bearing, and actuated by a drive motor. This configuration conveys significant advantages including insensitivity to attitude disturbances, high maneuverability, low rolling resistance, ability to recover from falls, and amphibious capability for potential applications on both land and water. This book focuses on the dynamics and control aspects, including modeling, model-based control, learning-based control, and shared control with human operators. This novel mobile robot concept opens up the science of dynamically stable systems with a single wheel configuration. The book also presents considerations in concept, design implementations, and kinematics modeling, as well as experimental results from various algorithms and cases. The system is a nonholonomic, underactuated, and highly nonlinear system, so this book is appropriate for scientists and engineers with interests in mobile robot, dynamics and control, as a research reference and postgraduate textbook.


Learning Based Control Mobile Robots Single-Wheel Robot algorithms kinematics mobile robot robot

Bibliographic information

  • DOI
  • Copyright Information Springer-Verlag Berlin/Heidelberg 2005
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Engineering Engineering (R0)
  • Print ISBN 978-3-540-28184-9
  • Online ISBN 978-3-540-31501-8
  • Series Print ISSN 1610-7438
  • Series Online ISSN 1610-742X
  • Buy this book on publisher's site