Universität Bielefeld - Sonderforschungsbereich 360
A Gyroscopically Stabilized Robot
Yangsheng Xu
The Robotics Institute
Carnegie Mellon University
Dept. of Mechanical and Automation Engineering
The Chinese University of Hong Kong
Thursday, August 5th, 1999
15 c.t. Uhr, M6-114
We have been developing a single wheel, gyroscopically stabilized
robot, initially at Carnegie Mellon University. It is a basically
single wheel which connected to a spinning flywheel through a two-link
manipulator at the wheel bearing. The nature of the system is
nonholonomic, nonlinear and underactuated. This configuration conveys
significant advantages over multi-wheel, statically stable vehicles,
including good dynamic stability and insensitivity to attitude
disturbances; high maneuverability; low rolling resistance; ability to
recover from falls; and amphibious capability. Presently envisioned
applications include rough-terrain and amphibious vehicles for
transport, rescue or recreation; surveillance robots that can maneuver
in tight quarters; and lunar/planetary rovers. The robot concept for
mobility is a radical departure from conventional, statically stable,
transportation modes, and the study of such a robot suggests a rich
array of research issues in dynamics, control, and human skill
learning which I will discuss in the seminar.
Bio:
Yangsheng Xu received his PhD from University of Pennsylvania in 1989
and joined Carnegie Mellon University after then. At Carnegie Mellon
where he is currently a senior faculty member at Robotics Institute,
he led research in space robotics, intelligent control, and
design. With his colleagues, he established The Laboratory for Space
Robotics where they developed the zero-gravity space robotics testbed
and several prototypes of robots working in space station and
planetary exploration, including the self-mobile space manipulator,
gyroscopically stabilized robot, dual-use mobile detachable
manipulator, and understactuated robot. Starting from January 1997, he
has been working with The Chinese University of Hong Kong where he is
heading the Department of Mechanical and Automation Engineering. He
has been a PI of many projects funded by both government and
industries, and served as an advisor/evaluator/consultant in various
government agencies and industries in Japan, Korea, USA, and China.
He is an associate editor of IEEE Transactions on Robotics and
Automation, and Journal of Automation. His current research interests
are in the areas of robotics for space and service applications,
human-interface that learns, dynamics and control, and sensor
development.
Anke Weinberger, 1999-07-16