Wheelbot：一种跳跃式反作用轮独轮车
机器人学
2023-07-25 v2
摘要
Wheelbot 结合现成组件与 3D 打印，是一种对称的反作用轮独轮车，可从任意初始位置跳跃至轮上直立。其具有非完整与欠驱动动力学，以及两个耦合的不稳定自由度，为非线性与数据驱动控制研究提供了一个具有挑战性的平台。本文介绍了 Wheelbot 的机械与电气设计、其估计与控制算法，以及展示自起立与平衡时抗扰动的实验。
引用
@article{arxiv.2207.06988,
title = {The Wheelbot: A Jumping Reaction Wheel Unicycle},
author = {A. René Geist and Jonathan Fiene and Naomi Tashiro and Zheng Jia and Sebastian Trimpe},
journal= {arXiv preprint arXiv:2207.06988},
year = {2023}
}
备注
Erratum: In the initial publication, Equation (3) was wrong and has been corrected in this version. Equation (3) relates to the transform from averaged body rates ${}^{\text{B}}\omega_i$ to Euler rates. Importantly, the results in this papers are not affected by the wrong transform. More details are found in the projects github repo: https://github.com/AndReGeist/wheelbot-v2.5