SCHOONWINKEL A.Design and test of a computer stabilized unicycle[D].California:Department of Aeronautics and Astronautics,Stanford University,1987.
[2]
VOS D W,FLOTOW A W.Dynamics and nonlinear adaptive control of an autonomous unicycle theroy and experiment[C]∥Proceedings of IEEE CDC 29.New York:IEEE Inc,Honolulu,1990:182-187.
[3]
郭磊,廖启征,魏世民,等.独轮车机器人的动力学建模与非线性控制[J].系统仿真学报,2009,21(9):2730-2734.GUO Lei,LIAO Qi-zheng,WEI Shi-min.Dynamical modeling of unicycle robot and nonlinear control[J].Journal of System Simulation,2009,21(9):2730-2734.(in Chinese)
[4]
CIESLAK P,BURATOWSKI T,UHL T,et al.The monowheel robot with dynamic stabilization[J].Robotics and Autonomous Systems,2011,59:611-619.
[5]
BURATOWSKI T,CIESLAK P,GIERGIEL M,et al.A self-stabilising multipurpose single-wheel robot[J].Journal of Theoretical and Applied Mechanics,2012,50:99-118.
[6]
LEE J H,SHIN H J,LEE S J,et al.Novel air blowing control for balancing a unicycle robot[C]//IEEE 2010International Conference on Intelligent Robots and Systems.New York:IEEE Inc,2010:2529-2530.
[7]
MURATA Manufacturing Co Ltd.Murata boy and Murata girl[EB/OL].[2008-05-10].http://www.murata.com.cn/corporate/boy_girl.
[8]
王启源.独轮自平衡机器人建模与控制研究[D].北京:北京工业大学电子信息与控制工程学院,2011.WANG Qi-yuan.Single-wheeled self-balancing robot modeling and control[D].Beijing:College of Electronic Information and Control Engineering,Beijing University of Technology,2011.(in Chinese)
[9]
熊梅.独轮机器人姿态控制研究[D].哈尔滨:哈尔滨工业大学机电工程学院,2010.XIONG Mei.Study on posture control algorithm of the unicycle robot[D].Harbin:School of Mechatronics Engineering,Harbin Institute of Technology,2010.
[10]
XU Y S,AU S K W.Stabilization and path following of a single wheel robot[J].IEEE Transactions on Mechatronics,2004,9(2):407-419.
[11]
AU S K W,XU Y S,YU W W K.Control of tilt-up motion of a single wheel robot via model-based and human-based controllers[J].Mechatronics,2011,11(4):451-473.
[12]
XU Y S,BROWN H B,AU K W.Dynamic mobility with single-wheel configuration[J].International Journal of Robotics Research,1999,18:728-738.
[13]
BROWN H B,XU Y S.A single-wheel,gyroscopically stabilized robot[J].IEEE Robotics&Automation Magazine,1997,4(3):39-44.
[14]
MAJIMA S,KASAI T,KADOHARA T.A design of a control method for changing yaw direction of an underactuated unicycle robot[C]∥IEEE Region 10 Annual International Conference.New York:IEEE Inc,2006.
[15]
白占军.六自由度独轮机器人本体研制及动力学控制方法研究[D].哈尔滨:哈尔滨工业大学机电工程学院,2011.BAI Zhan-jun.Research on body tructure and dynamic control method of 6-dof unicycle robot[D].Harbin:School of Mechatronics Engineering,Harbin Institute of Technology,2011.(in Chinese)
[16]
邓文波.独轮机器人建模与控制研究[D].北京:北京工业大学电子信息与控制工程学院,2012.DENG Wen-bo.Research of modeling and control for a unicycle robot[D].Beijing:College of Electronic Information and Control Engineering,Beijing University of Technology,2012.(in Chinese)
