{"entities":{"Q1721055":{"pageid":1731796,"ns":120,"title":"Item:Q1721055","lastrevid":72849228,"modified":"2026-04-14T08:14:45Z","type":"item","id":"Q1721055","labels":{"en":{"language":"en","value":"Steering control method for an underactuated unicycle robot based on dynamic model"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7019102"}},"aliases":{},"claims":{"P31":[{"mainsnak":{"snaktype":"value","property":"P31","hash":"fd5912e4dab4b881a8eb0eb27e7893fef55176ad","datavalue":{"value":{"entity-type":"item","numeric-id":56887,"id":"Q56887"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721055$5548CA7D-9CC5-4A2D-9E16-E347805014C0","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"0323fc9489c4da73eee57a6f58bcdfe22980de2e","datavalue":{"value":{"text":"Steering control method for an underactuated unicycle robot based on dynamic model","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1721055$41CFBB32-004A-4039-90E3-9682BCA8DF44","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"95d8d463a536ea63e3f3f52a0f991ba84db96756","datavalue":{"value":"1427.93164","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1721055$4F739547-B787-41E9-9410-91EFE831A700","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"8d2e7a4e1fb14736ab9afae74d9429555de76db7","datavalue":{"value":"10.1155/2018/5240594","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1721055$53B5CE2A-4CCA-48CD-801A-F95434743F5B","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"a71de2372eecf8587ca2fb703f18e41bb45dd3d7","datavalue":{"value":{"entity-type":"item","numeric-id":1721052,"id":"Q1721052"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721055$6E312BCC-7342-4F20-9B17-43C6A4F38EE8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"c7e39fb5d3b89e04f5e1e272d6e5653663cb2f29","datavalue":{"value":{"entity-type":"item","numeric-id":318779,"id":"Q318779"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721055$5769E4A6-1953-4F0F-9FD3-A3B468802D1E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"d6dd5f19d36d961998d63b329317923cf675efaf","datavalue":{"value":{"entity-type":"item","numeric-id":202665,"id":"Q202665"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721055$16455291-31D3-49AA-A2F5-CB34B0223B4B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"fcd94faac00f4f1353ecb4318080bad218c9ba9c","datavalue":{"value":{"entity-type":"item","numeric-id":1721053,"id":"Q1721053"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721055$19D116E7-0E87-4D78-AA12-BB20CC978ECB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"17845b5665128c2f05ef1743b13373d306ed7b3b","datavalue":{"value":{"entity-type":"item","numeric-id":1721054,"id":"Q1721054"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721055$6C33D99C-F72C-4F0C-AABA-E7B7C2D203A3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"795764124750104a0b92955e59c7a08bc5aedbd2","datavalue":{"value":{"entity-type":"item","numeric-id":297746,"id":"Q297746"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721055$00A35A1B-8FED-4173-969C-51D47262B036","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"ef15455596c7c1626850555905a8bdbbaa625158","datavalue":{"value":{"entity-type":"item","numeric-id":763288,"id":"Q763288"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721055$8276AE4C-72A9-4598-B121-567EFC78A3D6","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"3dc97bc0aff607b9c22ce37ffa18b6de85001d90","datavalue":{"value":{"entity-type":"item","numeric-id":86199,"id":"Q86199"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721055$E8EB7F07-37CC-4F6F-80E9-4BC7B2AB02B2","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"32a6dc046c0aa99508538df457dbadf7aa620337","datavalue":{"value":{"time":"+2019-02-08T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1721055$214A1676-1A19-4E85-856F-62D237C597CE","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"1673c4f3f7080e5ff7c26b6a84fa1d821fb0be91","datavalue":{"value":"Summary: This paper proposes a lateral balancing structure based on precession effect of double-gyroscopes and its associated control strategy of the steering for an underactuated unicycle robot. Double-gyroscopes are symmetrically designed on the top of the unicycle robot and utilized to adjust the lateral balance of system. Such design can inhibit the disturbance of the gyroscope system to the pitch angle and is beneficial to maintain the lateral balance in the case of large roll angle fluctuations. Based on the analysis of the dynamics model, the gyroscope precession effects will be caused by the angular velocity of the bottom wheel and the roll angular velocity, i.e., resulting in a torque in the direction of the yaw. Then, a rapid response control strategy is proposed to use the torque to control the steering. Simulation results demonstrate the rationality of the lateral balance structure and the feasibility of the steering control method.","type":"string"},"datatype":"string"},"type":"statement","id":"Q1721055$1318074C-5A97-43BC-9D52-CB8A95CCA1C9","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1721055$3FC27DB1-4765-42BF-94D7-1398D8154F4A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"406c80d213b264ba577b5aab979b8ac352491ba7","datavalue":{"value":"93D15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1721055$8E46A3D5-7AB4-42E1-8ED2-E667D52A1363","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"c5408ffa34731028dac8aa7abec8a3b9626903f0","datavalue":{"value":"70E60","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1721055$C1D026F3-7861-40C8-BEFE-6D57A8B1930D","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"b680dc04f9e9508566bd8d0582261b9da69baa09","datavalue":{"value":"7019102","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1721055$B60A933C-DEC1-4AAB-B993-79FC2E4F94C3","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721055$2D8B466B-F6C1-484D-8AC7-7A30156F0696","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"56e5aef40a62c49647ea11794f4e010c9be5c88c","datavalue":{"value":"https://doi.org/10.1155/2018/5240594","type":"string"},"datatype":"url"},"type":"statement","id":"Q1721055$F17FE1FC-1CEA-4C17-9B25-B9D65B7CC2CC","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"f3d23ec5f5037992aac13229907298d17f613ef7","datavalue":{"value":"W2901016569","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1721055$D661BCB8-3AA8-4C04-B368-BCE054768F1D","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"4911fe2c57f33cd47e993a14d2d92589a67622ee","datavalue":{"value":{"entity-type":"item","numeric-id":1961284,"id":"Q1961284"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721055$01210186-CA14-4597-A8F9-DFA50B915051","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"3abdb60969167b9f94f0ed4d839ca4ce6264b677","datavalue":{"value":"Q128906318","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1721055$E856B3AE-7334-416C-A15D-E11D82644594","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"5d73f525e6ac0a5a318891bea22d9c3edd9b36be","datavalue":{"value":{"entity-type":"item","numeric-id":3014346,"id":"Q3014346"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3bc314622af19e4bbb77bd2f203aed972c3ff600","datavalue":{"value":{"amount":"+0.7468540668487549","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1721055$17881E2E-F7E2-487D-83A3-1ACE3806F5B3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"4f88c4a949f23ad5cb14b27056a339d63c8b4dea","datavalue":{"value":{"entity-type":"item","numeric-id":3018563,"id":"Q3018563"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"34f26c6bb537cf5d62946b48ab55015b7bd2ace2","datavalue":{"value":{"amount":"+0.7264807820320129","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1721055$AF614EF8-E86F-4E6E-9E30-291759BE3FB0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"4992e93f900f747e861c8f985915b88bb9bf4473","datavalue":{"value":{"entity-type":"item","numeric-id":1639470,"id":"Q1639470"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"34df3f21bed0a49185f4084e74b0156c80bf5aa6","datavalue":{"value":{"amount":"+0.722072958946228","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1721055$10E5F1A8-C45E-4CDB-B1F9-6BCB51264B62","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"22da06d9a941c244a3cb5b09193c2b2d231b1257","datavalue":{"value":{"entity-type":"item","numeric-id":880689,"id":"Q880689"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"085405050835818599e9e2d9554fe31cadfcb450","datavalue":{"value":{"amount":"+0.7193937301635742","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1721055$2415C461-58B1-489E-94C6-2409BF599E8B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"4e5c6e2359b9268c7be6d3779fa834a3d6528537","datavalue":{"value":{"entity-type":"item","numeric-id":3564974,"id":"Q3564974"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"36effc71602b53eb466c2796ebbdc9bba5d7bb84","datavalue":{"value":{"amount":"+0.7147919535636902","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1721055$CC36653C-37F6-416A-9963-F2AEE968EDA8","rank":"normal"}],"P163":[{"mainsnak":{"snaktype":"value","property":"P163","hash":"45fcd4163b5f33e6e8c784f5522d7246c0a1a61e","datavalue":{"value":{"entity-type":"item","numeric-id":57056,"id":"Q57056"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721055$E9885E63-63E8-470B-A5A9-547ED2B2EABD","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Steering control method for an underactuated unicycle robot based on dynamic model","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Steering_control_method_for_an_underactuated_unicycle_robot_based_on_dynamic_model"}}}}}