Publications
Electronic training wheels: An automated cycling track stand
D. Wardle, T. Gregory, B. Cazzolato (2014)
Australian Conference on Robotics and Automation (ACRA 2014), Melbourne, VIC, 2 - 4 DecemberAbstract:
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.
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