- 영문명
- An Assistant System for Riding a Unicycle
- 발행기관
- 한국과학기술원 인간친화 복지 로봇 시스템 연구센터
- 저자명
- M. Iwase Y. Kanai M. Kinoshita S. Hatakeyama Y. Kashimura I. Hanazaki T. Yokoyama H. Higaki K. Fujisawa
- 간행물 정보
- 『International Journal of Assistive Robotics and Mechatronics』International Journal of Assistive Robotics and Mechatronics Vol.8 No.1, 10~18쪽, 전체 9쪽
- 주제분류
- 공학 > 제어계측공학
- 파일형태
- 발행일자
- 2007.03.30
4,000원
구매일시로부터 72시간 이내에 다운로드 가능합니다.
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국문 초록
영문 초록
The final purpose of this study is to design a control system to assist in the skill of riding a unicycle. To realize such a system, it is necessary to make a mathematical model and to analyze the dynamics of the unicycle. It is ideal that the dynamics of a unicycle is kept as original as possible even if any automatic support control is required to assist the operator. Thus, this paper presents modeling of the unicycle and a control system design by the controlled Lagrangian to realize this type of controller.
목차
Abstract
1. INTRODUCTION
2. MODELING OF UNICYCLE
3. CONTROL METHOD
4. SIMULATION
5. CONCLUSION
ACKNOWLEDGEMENTS
REFERENCES
1. INTRODUCTION
2. MODELING OF UNICYCLE
3. CONTROL METHOD
4. SIMULATION
5. CONCLUSION
ACKNOWLEDGEMENTS
REFERENCES
키워드
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