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One-wheel robot system and control method thereof

A robot system and robot technology, applied in the field of intelligent robots, can solve problems such as complexity, angle integral offset, system instability, etc.

Inactive Publication Date: 2010-01-13
BEIJING UNIV OF TECH
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

However, "she" does not have a mechanical arm and a dexterous hand that can perform tasks, and the main body still does not have the ability to process complex information, but it is processed by sending it to the host computer for processing. The transmission method is chain transmission, which is relatively complicated, and there is no debugging that can be flexibly expanded. With the caster assembly, there are only four single-axis gyroscopes in detection, which will cause angle integral offset problems, which will eventually lead to system instability, etc.

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  • One-wheel robot system and control method thereof

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[0056] Below with the accompanying drawings Figure 1-Figure 7 The present invention is described in detail:

[0057] The robot system of the autonomous riding unicycle of the present invention comprises a mechanical body and an electrical system (control system), wherein the overall structure of the mechanical body is:

[0058] Torso: Rigid robot body design composed of aluminum alloy brackets.

[0059] Head and neck: The modular design of the two-dimensional gimbal allows the robot to pitch up and down and turn its head left and right.

[0060] Robotic Arm 6: In order to complete some specific tasks, a modular detachable robotic arm capable of complex operations is used.

[0061] Manipulator 7: has an operable, replaceable, modular multi-fingered manipulator to accomplish tasks.

[0062] Overall balance control structure: the vertical installation structure of the lower motion balance assembly (lower shaft assembly) and the upper balance assembly (lower shaft assembly). ...

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Abstract

The invention relates to a single-wheel robot system and a control method thereof, belonging to the field of intelligent robot, in particular to a static unbalanced robot which can autonomically control movement balance further to autonomically ride a monocycle and a movement balance control method thereof. The single-wheel robot comprises a robot body and a balance detection and control system and is characterized in that the lower part of the robot body is provided with a single wheel which can rotate front and back, and the middle of the robot is provided with an inertial flywheel which can rotate left and right and is horizontally placed; the balance detection and control system comprises a movement controller, a posture detector and a servo drive controller, wherein the posture detector and the servo drive controller are connected with the movement controller; and the movement controller 10 receives a signal of a posture sensor and processes the received signal according to a control procedure so as to send a control order to control a motor through the servo drive controller to regulate the posture balance of the single-wheel robot. The invention provides a control platform which not only belongs to robotics but also belongs to the field of control science and intelligent control, thereby meeting the needs of multi-subject scientific research and teaching.

Description

technical field [0001] The invention belongs to the category of intelligent robots, and relates to a static unbalanced robot capable of autonomously performing motion balance control and autonomously riding a unicycle and a motion balance control method thereof. Background technique [0002] Riding a unicycle is an activity that humans (or other specially trained animals with higher levels of intelligence) require relatively advanced motor balance skills to complete. This ability needs special study and training to be able to possess. Developing an autonomous robot that mimics this advanced motor balance skill of humans to complete the task of riding a unicycle has long been a task in the field of robotics. [0003] The unicycle robot imitates the activities of people riding a unicycle. The robot system established has a high bionicity. Its appearance is the result of the integration and rapid development of artificial intelligence, intelligent control, mechanical design, r...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J5/00
Inventor 阮晓钢王启源胡敬敏于乃功王昱峰李欣源任红格
Owner BEIJING UNIV OF TECH
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