Beijing University of Technology

Xiaogang Ruan

Naigong Yu

Guoyu Zuo

Daoxiong Gong

Xiaoqing Zhu

Rongyi Sun

Ruoyan Wei

Honggui Han

Yufeng Wang

Jianwei Zhao

Jingmin Hu

Qiyuan Wang

Xinyuan Li

Hongge Ren

Jianxian Cai

A method and device of torque generation based on electromagnetic effect is provided. An electromagnetic torque whose direction is opposite to the motor driving direction is generated in a magnetic field when a motor-drive armature winding is adopted based on the electro-magnetic induction principle. Meanwhile, a reverse electromagnetic torque which is reverse to the armature winding with the same magnitude, is applied on a magnet set and is transmitted to an underactuated system so as to provide required torque for the underactuated system. Advantageously, the provided torque is in direct ratio to speed, difficulty in control is significantly reduced, two-stage electromagnetic variable speed can be achieved, the design of the system is simple and reliable with a concise and clear structure, and the device may be employed in a wide variety of applications.

Method and device for torque generation based on electromagnetic effect

This invention relates to a single wheel robot system and its control method. The robot is an intelligent self-control and thus self-balancing unicycle riding robot. The control method is the balance control method of the static imbalance unicycle robot. The single wheel robot includes mechanical body and control system; the body contains a single wheel in the substructure which can rotate around for balance; the control system comprises state sensors, motion controller, servo-driven controllers, and a power system. Among them, the motion controller receive signals from the state sensors, in accordance with control procedures for processing of the received signal, thereby issuing control instructions. The servo drive controller receives the control instructions and controls the motors of the robot to adjust posture to be balanced.

Single wheel robot system and its control method

A flexible two-wheeled self-balancing robot system and its motion control method include a main controller, a motion controller, an assistant controller, two servo drivers, sensors, input/output devices, two DC motorsand a power supply system; a camera is installed on truck's top board, a tilt-meter and a gyro are installed both in truckand chassis. Truckand chassisare connected with an elastic joint in which is installed a two-arm torsion spring and a cylindrical spring; the main controlleris connected to the motion controller, the assistant controllerand input/output devices. The user commands received by the main controllerare immediate commands or stored commands; through main controllerrunning the motion behavior decision algorithm, the motion controllerrunning the motion balancing control algorithm, and the servo drivescontrolling the torques of the motors, locomotion on plane and remote control of the robot can be implemented.

Flexible two-wheeled self-balancing robot system and its motion control method

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Beijing, China

Xiaogang Ruan