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Based on the successful implementations of the lateral balancing and tiltup motion, in this chapter, we are going to develop a shared control framework for Gyrover. In fact, any situation of a system using shared control will involve human interactions. Under shared control, the human operator acts as a supervisor for overall control, while the robot itself can handle some local motions which in turn assist the human. In order to distribute the control tasks systematically, we develop an expression to make such a decision. Experimental results will be given in order to verify our idea. [ABSTRACT FROM AUTHOR]

Modeling human control strategy (HCS) refers to a model of a human expert's control action in response to system real-time feedback. That is, we aim to develop a relationship between human control action (control commands) and the system response (state variables). [ABSTRACT FROM AUTHOR]

Due to the complexity of the system, it is difficult for us to work out a "complete" analytical model of it. Therefore, in this chapter, we propose using a machine learning algorithm, Cascade Neural Network (CNN) with nodedecoupled extended Kalman Filtering (NDEKF), to model the robot's behaviors from human control strategy (HAS). [ABSTRACT FROM AUTHOR]

Due to the inherent lateral instability, the first step in controlling the robot is stabilization. Fortunately, the lean angle of the robot can be controlled indirectly by tilting the flywheel. The single wheel robot steers by leaning at different angles. Therefore, it is necessary to design a controller that stabilizes the robot at any desired lean angle, so as to control the steering velocity. [ABSTRACT FROM AUTHOR]

Previously, Gyrover was controlled only manually, using two joysticks to control the drive and tilt motors through a radio link. A complete dynamic model is necessary to develop automatic control of the system. In the following sections, we will develop the nonholonomic kinematics constraints, as well as a dynamic model using the constrained generalized Lagrangian formulation. [ABSTRACT FROM AUTHOR]

Land locomotion can be broadly characterized as quasi-static or dynamic. Quasi-static equilibrium implies that inertial (acceleration-related) effects are small enough to ignore. That is, motions are slow enough that static equilibrium can be assumed. Stability of quasi-static systems depends on keeping the gravity vector through, the center of mass, within the vehicle's polygon of support determined by the ground-contact points of its wheels or feet. Energy input is utilized predominantly in reacting against static forces. Such systems typically have relatively rigid members, and can be controlled on the basis of kinematic considerations. [ABSTRACT FROM AUTHOR]

Gyrover is a novel concept for mobility that has distinct advantages over conventional, statically stable vehicles. The concept has been veri.ed with three working models. Gyrover is particularly suited for operations at high speed and rough terrain, and also shows promise as a marine/amphibious vehicle. The mechanism can be completely enclosed, presenting a very clean, protected envelope. [ABSTRACT FROM AUTHOR]