Combining off-the-shelf components with 3D-printing, the Wheelbot is a symmetric reaction wheel unicycle that can jump onto its wheels from any initial position. With non-holonomic and under-actuated dynamics, as well as two coupled unstable degrees of freedom, the Wheelbot provides a challenging platform for nonlinear and data-driven control research.
This video is part of the publication
"The Wheelbot: A jumping reaction wheel unicycle"
which will be published in the robotics and automation letters (RA-L) and presented at IROS 2022.
Researchers:
A. René Geist, Jonathan Fiene, Naomi Tashiro, Zheng Jia, Sebastian Trimpe
This work was done at the Max Planck Institute for Intelligent Systems, Stuttgart as well as RWTH Aachen University and is being supported in part by the Max Planck Society and the Cyber Valley initiative. A. René Geist was supported by the International Max Planck Research School for Intelligent Systems (IMPRS):
https://imprs.is.mpg.de
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