KIEE - The Transactions of the Korean Institute of Electrical Engineers

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The Transactions of the Korean Institute of Electrical Engineers

The Transactions of the Korean Institute of Electrical Engineers

ISO Journal TitleTrans. Korean. Inst. Elect. Eng.

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Title	Implementation and Balancing Control of A Single-wheel Mobile Robot Using Air Power
Authors	심용기(Sim, Yong-Gi) ; 정슬(Jung, Seul)
DOI	https://doi.org/10.5370/KIEE.2014.63.1.139
Page	pp.139-144
ISSN	1975-8359
Keywords	Single-wheel robot ; Air control ; Balancing control
Abstract	This paper presents the novel design, implementation and control of a single-wheel mobile robot that can balance by using air power from ducted fans. All of the motions of the single-wheel mobile robot are actuated by air power instead of motor torques. Using air power allows to reduce the total weight of the robot. The complementary sensor fusion algorithm is introduced to estimate the angle correctly. After several design and development, the robot is tested for balancing in the roll direction and yawing motion. In addition, the balancing control of the robot on a single rope is tested to evaluate the control performance.

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