# DYNAMIC MODELING OF A MOMENT EXCHANGE UNICYCLE ROBOT

### S. Langius, R. A. de Callafon

#### Abstract

In this paper a three dimensional non-linear model has been derived to describe the dynamics of an unstable moment exchange unicycle robot. The robot uses a driving wheel to provide stabilization in longitudinal direction, while a second moment exchange wheel with a large inertia is used for stabilization in lateral direction. For validation purposes, the resulting equations of motion are compared independently against the simulation results of a finite element package called SPACAR. The model includes the coupling between the lateral and longitudinal motion, which makes it possible to control the yaw angle and the model can be used to design a stabilizing feedback controller.

#### References

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#### Paper Citation

#### in Harvard Style

Langius S. and A. de Callafon R. (2010). **DYNAMIC MODELING OF A MOMENT EXCHANGE UNICYCLE ROBOT** . In *Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,* ISBN 978-989-8425-01-0, pages 216-221. DOI: 10.5220/0002938402160221

#### in Bibtex Style

@conference{icinco10,

author={S. Langius and R. A. de Callafon},

title={DYNAMIC MODELING OF A MOMENT EXCHANGE UNICYCLE ROBOT},

booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},

year={2010},

pages={216-221},

publisher={SciTePress},

organization={INSTICC},

doi={10.5220/0002938402160221},

isbn={978-989-8425-01-0},

}

#### in EndNote Style

TY - CONF

JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,

TI - DYNAMIC MODELING OF A MOMENT EXCHANGE UNICYCLE ROBOT

SN - 978-989-8425-01-0

AU - Langius S.

AU - A. de Callafon R.

PY - 2010

SP - 216

EP - 221

DO - 10.5220/0002938402160221