Driving and Turning Control of a Single-Wheel Mobile Robot

  • Junehyung Park
  • Seul Jung
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 194)


This paper presents driving and balancing control of a single-wheel mobile robot system called the name of GYROBO. GYROBO utilizes a gyro effect to stabilize itself. Three actuators are used to perform driving and balancing tasks. After modification of hardware and relocation of materials inside the wheel housing of the previous GYROBO model, performances of trajectory following control as well as balancing control are improved. Linear controllers are used for both roll, pitch and yaw angle control. GYROBO is required to follow the specified trajectories commanded by a remote operator. Trajectories include a straight line and curved trajectories. Experimental studies of driving and turning control are conducted and its performances are demonstrated.


single-wheel mobile robot gyro effect balancing driving and turning control 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  1. 1.Dept. of Mechatronics EngineeringChungnam National UniversityDaejeonKorea

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