单轮机器人很实用,它不仅可以在高低不平的路面上行走,而且还可以穿过狭窄的通道,也可以在拉紧的绳子上行走。它的行走特技可以给人带来欢乐。为此,日本Iguchi实验室及Waseda大学开发出一种单轮移动的娱乐机器人(见图)。 作为娱乐机器人,控制其姿态是非常重要的。该单轮移动机器人采用陀螺稳定装置以保持机器人的姿态。这是一种自主式机器人,机器人中装有几个镍镉电池和一台微机。电池的另一个作用是可作为平衡重量及飞轮。 机器人是由直流电机驱动的,转向是通过有意改变扭矩及反扭矩实现的,而扭矩和反扭矩的变化是通过陀螺仪的加速及减速控制的。将扭矩及反扭矩的变化转换成前进运动的陀螺理论,在这里被用来保持机器人 A single-wheeled robot is useful not only for walking on rough terrain, but also for walking through narrow channels and on tightened ropes. Its walking stunts can bring joy to people. To this end, Japan’s Iguchi Laboratory and Waseda University developed a one-wheeled mobile entertainment robot (see photo). As an entertainment robot, controlling its attitude is very important. The single-wheel mobile robot uses a gyro-stabilization device to maintain the robot’s attitude. This is an autonomous robot with several Ni-Cd batteries and a microcomputer in it. Another function of the battery can be used as balance weight and flywheel. The robot is driven by a DC motor. The steering is achieved by deliberately changing the torque and the reverse torque. The changes in torque and torque are controlled by the acceleration and deceleration of the gyroscope. The gyroscopic theory that transforms changes in torque and counter torque into forward motion is used here to keep the robot