论文标题
Omburo：一种新型的Unicycle机器人，带有主动全向轮
OmBURo: A Novel Unicycle Robot with Active Omnidirectional Wheel
论文作者
论文摘要
机器人在与人共享的狭窄空间中使用的一种移动性机制要求它具有少量的占地面积，以全向移动以及高度操纵。但是，目前很少有这样满足所有这些条件的这种流动性机制。在这里，我们介绍了全向平衡Unicycle机器人（Omburo），这是一种具有活跃全向轮的新型独轮车机器人。效果在于，独轮车机器人可以同时驱动纵向和侧向。因此，它可以根据双轴倒置的摆的原理动态平衡自己。这封信揭示了这种新颖的独轮车机器人的早期开发，涉及整体设计，建模和控制，并提出了一些初步结果，包括站立和路径跟随。凭借其非常紧凑的结构和敏捷的迁移率，它可能是机器人将来在人类环境中使用的理想运动机制。
A mobility mechanism for robots to be used in tight spaces shared with people requires it to have a small footprint, to move omnidirectionally, as well as to be highly maneuverable. However, currently there exist few such mobility mechanisms that satisfy all these conditions well. Here we introduce Omnidirectional Balancing Unicycle Robot (OmBURo), a novel unicycle robot with active omnidirectional wheel. The effect is that the unicycle robot can drive in both longitudinal and lateral directions simultaneously. Thus, it can dynamically balance itself based on the principle of dual-axis wheeled inverted pendulum. This letter discloses the early development of this novel unicycle robot involving the overall design, modeling, and control, as well as presents some preliminary results including station keeping and path following. With its very compact structure and agile mobility, it might be the ideal locomotion mechanism for robots to be used in human environments in the future.
