论文标题
双轮机：跳动轮独轮车
The Wheelbot: A Jumping Reaction Wheel Unicycle
论文作者
论文摘要
轮胎将现成的组件与3D打印结合在一起，是一种对称的反应轮独轮车，可以从任何初始位置从任何初始位置跳到其车轮上。船轮具有非全面和散发性较低的动力学以及两个耦合的不稳定自由度，为非线性和数据驱动的控制研究提供了一个具有挑战性的平台。本文介绍了车轮的机械和电气设计，其估计和控制算法，以及在平衡时表明自我练习和干扰拒绝的实验。
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 paper presents the Wheelbot's mechanical and electrical design, its estimation and control algorithms, as well as experiments demonstrating both self-erection and disturbance rejection while balancing.
