The Wheelbot: A Jumping Reaction Wheel Unicycle

Combining off-the-shelf components with 3D- printing, the Wheelbot is a symmetric reaction wheel unicycle that can jump onto its wheels from any initial position. With non-holonomic and under-actuated dynamics, as well as two coupled unstable degrees of freedom, the Wheelbot provides a challenging p...

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Bibliographic Details
Published inIEEE robotics and automation letters Vol. 7; no. 4; pp. 9683 - 9690
Main Authors Geist, A. Rene, Fiene, Jonathan, Tashiro, Naomi, Jia, Zheng, Trimpe, Sebastian
Format Journal Article
LanguageEnglish
Published Piscataway IEEE 01.10.2022
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Algorithms
Brushless motors
education robotics
Mobile robots
nonholonomic mechanisms and systems
Nonlinear control
Power supplies
Reaction wheels
Robot sensing systems
Robots
Three dimensional printing
Torque
underactuated robots
Wheeled robots
Wheels
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Summary:Combining off-the-shelf components with 3D- printing, the Wheelbot is a symmetric reaction wheel unicycle that can jump onto its wheels from any initial position. With non-holonomic and under-actuated dynamics, as well as two coupled unstable degrees of freedom, the Wheelbot provides a challenging platform for nonlinear and data-driven control research. This letter presents the Wheelbot's mechanical and electrical design, its estimation and control algorithms, as well as experiments<inline-formula><tex-math notation="LaTeX">^\star</tex-math></inline-formula> demonstrating both self-erection and disturbance rejection while balancing.
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2022.3192654