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Unicycle Cart
The term unicycle is often used in robotics and control theory to mean a generalised cart or car moving in a two-dimensional world; these are also often called "unicycle-like" or "unicycle-type" vehicles. This usage is distinct from the literal sense of " one wheeled robot bicycle". These theoretical vehicles are typically shown as having two parallel driven wheels, one mounted on each side of their centre, and (presumably) some sort of offset castor to maintain balance; although in general they could be any vehicle capable of simultaneous arbitrary rotation and translation. An alternative realization uses a single driven wheel with steering, and a pair of idler wheels to give balance and allow a steering torque to be applied. A physically realisable unicycle, in this sense, is a nonholonomic system. This is a system in which a return to the original internal (wheel) configuration does not guarantee return to the original system (unicycle) position. In other words, the system o ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Robotics
Robotics is an interdisciplinary branch of computer science and engineering. Robotics involves design, construction, operation, and use of robots. The goal of robotics is to design machines that can help and assist humans. Robotics integrates fields of mechanical engineering, electrical engineering, information engineering, mechatronics, electronics, bioengineering, computer engineering, control engineering, software engineering, mathematics, etc. Robotics develops machines that can substitute for humans and replicate human actions. Robots can be used in many situations for many purposes, but today many are used in dangerous environments (including inspection of radioactive materials, bomb detection and deactivation), manufacturing processes, or where humans cannot survive (e.g. in space, underwater, in high heat, and clean up and containment of hazardous materials and radiation). Robots can take any form, but some are made to resemble humans in appearance. This is claimed t ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Control Theory
Control theory is a field of mathematics that deals with the control of dynamical systems in engineered processes and machines. The objective is to develop a model or algorithm governing the application of system inputs to drive the system to a desired state, while minimizing any ''delay'', ''overshoot'', or ''steady-state error'' and ensuring a level of control stability; often with the aim to achieve a degree of optimality. To do this, a controller with the requisite corrective behavior is required. This controller monitors the controlled process variable (PV), and compares it with the reference or set point (SP). The difference between actual and desired value of the process variable, called the ''error'' signal, or SP-PV error, is applied as feedback to generate a control action to bring the controlled process variable to the same value as the set point. Other aspects which are also studied are controllability and observability. Control theory is used in control system ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Self-balancing Unicycle
An electric unicycle (often initialized as EUC or acronymized yuke or Uni) is a self-balancing personal transporter with a single wheel. The rider controls speed by leaning forwards or backwards, and steers by twisting or tilting the unit side to side. The self-balancing mechanism uses accelerometers, gyroscopes, and a magnetometer. In 2020, suspension models were introduced by three major manufacturers Begode, Kingsong and Inmotion. Operation Commercial units are self-balancing in a forward and backward direction, with side-to-side (lateral) stability being provided by the steering motions of the rider, similar to Bicycle and motorcycle dynamics. As of 2022, no commercial human-rideable unicycle has lateral self-balancing capabilities. However, a non-ridable, dual-axis self-balancing unicycle was demonstrated in 2012, with small, lightweight robots using a large weighted reaction wheel or control moment gyroscope. The control of a unicycle can be considered to be an inverte ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Nonholonomic System
A nonholonomic system in physics and mathematics is a physical system whose state depends on the path taken in order to achieve it. Such a system is described by a set of parameters subject to differential constraints and non-linear constraints, such that when the system evolves along a path in its parameter space (the parameters varying continuously in values) but finally returns to the original set of parameter values at the start of the path, the system itself may not have returned to its original state. Nonholonomic mechanics is autonomous division of Newtonian mechanics. Details More precisely, a nonholonomic system, also called an ''anholonomic'' system, is one in which there is a continuous closed circuit of the governing parameters, by which the system may be transformed from any given state to any other state. Because the final state of the system depends on the intermediate values of its trajectory through parameter space, the system cannot be represented by a conserva ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Path Dependence
Path dependence is a concept in economics and the social sciences, referring to processes where past events or decisions constrain later events or decisions. It can be used to refer to outcomes at a single point in time or to long-run equilibria of a process. Path dependence has been used to describe institutions, technical standards, patterns of economic or social development, organizational behavior, and more. In common usage, the phrase can imply two types of claims. The first is the broad concept that "history matters", often articulated to challenge explanations that pay insufficient attention to historical factors. This claim can be formulated simply as "the future development of an economic system is affected by the path it has traced out in the past" or "particular events in the past can have crucial effects in the future." The second is a more specific claim about how past events or decisions affect future events or decisions in significant or disproportionate ways, throu ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Inverted Pendulum
An inverted pendulum is a pendulum that has its center of mass above its pivot point. It is unstable and without additional help will fall over. It can be suspended stably in this inverted position by using a control system to monitor the angle of the pole and move the pivot point horizontally back under the center of mass when it starts to fall over, keeping it balanced. The inverted pendulum is a classic problem in dynamics and control theory and is used as a benchmark for testing control strategies. It is often implemented with the pivot point mounted on a cart that can move horizontally under control of an electronic servo system as shown in the photo; this is called a cart and pole apparatus. Most applications limit the pendulum to 1 degree of freedom by affixing the pole to an axis of rotation. Whereas a normal pendulum is stable when hanging downwards, an inverted pendulum is inherently unstable, and must be actively balanced in order to remain upright; this can be done ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Turtle Robot
Turtles are a class of educational robots designed originally in the late 1940s (largely under the auspices of researcher William Grey Walter) and used in computer science and mechanical engineering training. These devices are traditionally built low to the ground with a roughly hemispheric (sometimes transparent) shell and a power train capable of a very small turning radius. The robots are often equipped with sensor devices which aid in avoiding obstacles and, if the robot is sufficiently sophisticated, allow it some perception of its environment. Turtle robots are commercially available and are common projects for robotics hobbyists. Turtle robots are closely associated with the work of Seymour Papert and the common use of the Logo programming language in computer education of the 1980s. Turtles specifically designed for use with Logo systems often come with pen mechanisms allowing the programmer to create a design on a large sheet of paper. The original Logo turtle, built by P ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Braitenberg Vehicles
A Braitenberg vehicle is a concept conceived in a thought experiment by the Italian-Austrian cyberneticist Valentino Braitenberg. The book models the animal world in a minimalistic and constructive way, from simple reactive behaviours (like phototaxis) through the simplest vehicles, to the formation of concepts, spatial behaviour, and generation of ideas. For the simplest vehicles, the motion of the vehicle is directly controlled by some sensors (for example photo cells). Yet the resulting behaviour may appear complex or even intelligent. Mechanism A Braitenberg vehicle is an agent that can autonomously move around based on its sensor inputs. It has primitive sensors that measure some stimulus at a point, and wheels (each driven by its own motor) that function as actuators or effectors. In the simplest configuration, a sensor is directly connected to an effector, so that a sensed signal immediately produces a movement of the wheel. Depending on how sensors and wheels are conne ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Robot Control
Robotic control is the system that contributes to the movement of robots. This involves the mechanical aspects and programmable systems that makes it possible to control robots. Robotics could be controlled in various ways, which includes using manual control, wireless control, semi- autonomous (which is a mix of fully automatic and wireless control), and fully autonomous (which is when it uses artificial intelligence to move on its own, but there could be options to make it manually controlled). In the present day, as technological advancements progress, robots and their methods of control continue to develop and advance. Modern robots (2000-present) Medical and surgical In the medical field, robots are used to make precise movements that are humanly difficult. Robotic surgery involves the use of less-invasive surgical methods, which are “procedures performed through tiny incisions”. Currently, robots use the da Vinci surgical method, which involves the robotic arm (whi ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
