The Wheelbot: A Jumping Reaction Wheel Unicycle

2022/07/14 by Geist, A. René, Fiene, Jonathan, Tashiro, Naomi +2 · 1 citation
#FOS: Computer and information sciences #Robotics (cs.RO)

paper · doi:10.48550/arxiv.2207.06988

Abstract

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.

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