期刊名称：Journal of Automation, Mobile Robotics & Intelligent Systems (JAMRIS)
印刷版ISSN：1897-8649
电子版ISSN：2080-2145
出版年度：2015
卷号：9
期号：3
页码：3
DOI：10.14313/JAMRIS_3-2015/19
出版社：Industrial Research Inst. for Automation and Measurements, Warsaw
摘要：The arƟcle presents the influence of the reacƟonwheels on the stability of the bicycle robot. The precisemathemaƟcal model is presented. The robot is treatedas an inverted pendulum with rigid body physical nature.The mathemaƟcal analysis can be useful to develop controltechniques, to make many computer simulaƟons, tocheck how the system will behave in reality.
关键词：inerƟa wheel pendulum; reacƟon wheel; bicycle;robot; dynamic model
