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A dynamics-based posture-balancing control strategy for a new one-wheel pendulum robot (OWPR) is proposed and verified. The OWPR model includes a rolling wheel, a robot body with a steering axis, and a pendulum for lateral balancing. In constructing the dynamic model, three elements are generalized in comparison with existing robotic systems: the mass and inertia of the robot body, the “I”-type pendulum,...
To control the trajectory of the unicycle robot, the CCD camera has been utilized for detecting the lanes for the robot. Conventional unicycle robot can control the posture while it is moving forward and backward with a certain velocity. However it is not capable of controlling the direction to follow a given lane or to avoid an obstacle. Our proposed unicycle robot is equipped with a rotational disk...
Aluminum parts is processed by using a machine of various tools. This processed goods the surface becomes roughly form because of structure is planned. The metal-powder exists in the surface. So the use of this processed goods is impossible. Must remove the metal-powder because of this. After the shining process of the aluminum, the small steel balls should be removed from the aluminum parts. However,...
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