000 02843nam a22003735i 4500
001 295122
003 MX-SnUAN
005 20160429155215.0
007 cr nn 008mamaa
008 150903s2005 gw | o |||| 0|eng d
020 _a9783540315018
_99783540315018
024 7 _a10.1007/b136654
_2doi
035 _avtls000347728
039 9 _a201509030204
_bVLOAD
_c201405070504
_dVLOAD
_y201402070938
_zstaff
040 _aMX-SnUAN
_bspa
_cMX-SnUAN
_erda
100 1 _aXu, Yangsheng.
_eautor
_9329295
245 1 0 _aControl of Single Wheel Robots /
_cby Yangsheng Xu, Yongsheng Ou.
264 1 _aBerlin, Heidelberg :
_bSpringer Berlin Heidelberg,
_c2005.
300 _axxiv, 188 páginas 122 ilustraciones
_brecurso en línea.
336 _atexto
_btxt
_2rdacontent
337 _acomputadora
_bc
_2rdamedia
338 _arecurso en línea
_bcr
_2rdacarrier
347 _aarchivo de texto
_bPDF
_2rda
490 0 _aSpringer Tracts in Advanced Robotics,
_x1610-7438 ;
_v20
500 _aSpringer eBooks
505 0 _aIntroduction -- Kinematics and Dynamics -- Model-based Control -- Learning-Based Control -- Further Topics on Learning-based Control -- Shared Control -- Conclusions.
520 _aThis monograph presents a novel concept of a mobile robot, which is a single-wheel, gyroscopically stabilized robot. The robot is balanced by a spinning wheel attached through a two-link manipulator at the wheel bearing, and actuated by a drive motor. This configuration conveys significant advantages including insensitivity to attitude disturbances, high maneuverability, low rolling resistance, ability to recover from falls, and amphibious capability for potential applications on both land and water. This book focuses on the dynamics and control aspects, including modeling, model-based control, learning-based control, and shared control with human operators. This novel mobile robot concept opens up the science of dynamically stable systems with a single wheel configuration. The book also presents considerations in concept, design implementations, and kinematics modeling, as well as experimental results from various algorithms and cases. The system is a nonholonomic, underactuated, and highly nonlinear system, so this book is appropriate for scientists and engineers with interests in mobile robot, dynamics and control, as a research reference and postgraduate textbook.
590 _aPara consulta fuera de la UANL se requiere clave de acceso remoto.
700 1 _aOu, Yongsheng.
_eautor
_9329296
710 2 _aSpringerLink (Servicio en línea)
_9299170
776 0 8 _iEdición impresa:
_z9783540281849
856 4 0 _uhttp://remoto.dgb.uanl.mx/login?url=http://dx.doi.org/10.1007/b136654
_zConectar a Springer E-Books (Para consulta externa se requiere previa autentificación en Biblioteca Digital UANL)
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999 _c295122
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