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Type: Conference paper
Title: Electronic training wheels: An automated cycling track stand
Author: Wardle, D.
Gregory, T.
Cazzolato, B.
Citation: Australasian Conference on Robotics and Automation, ACRA, 2014, vol.02-04-December-2014
Publisher: ARAA
Issue Date: 2014
ISBN: 978-0-9807404-5-5
ISSN: 1448-2053
Conference Name: Australasian Conference on Robotics and Automation (ACRA 2014) (2 Dec 2014 - 4 Dec 2014 : Melbourne)
Statement of
D. Wardle, T. Gregory, B. Cazzolato
Abstract: A track stand is the act of balancing a bicycle while stationary, an inherently hard technique to perform. Several devices exist that provide lateral stabilisation of a bicycle, though few are designed to assist a rider. In this paper the design and derivation of dynamics are detailed for a Single Gimbal Control Moment Gyroscope (SGCMG) retrofitted to an adult-sized bicycle. A linear control system is designed with corresponding simulations of the modelled system. Linear theory shows that a minimum rotor momentum is required for stabilisation. The physical system is described with results showing the rider track stand time has significantly increased with the SGCMG.
Rights: Copyright status unknown
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Appears in Collections:Aurora harvest 3
Mechanical Engineering conference papers

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