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EDWARD - Electric Diwheel With Active Rotation Damping
Keywords: Diwheel, monowheel
(Commenced: 01-Jan-2009,Concluded: 12-Dec-2010)
The Star Wars movies have had numerous exotic vehicles including the Monowheel (or Wheelbike as called in the movie) and Diwheel (Hailfire Droid) as seen in the images below.
For more information on monowheels see The Museum of RetroTechnology, which also has information on diwheels. In particular THE DAVID SOUTHALL MONOWHEEL is worth a look at, especially the movies. Kerry Mclean has some very cool monocycles. A more refined monowheel is The Brazilian "Wheelsurf" Monowheel.
The EDWARD Project
This honours project involved the construction of a human operated diwheel. Many diwheels in the past have been human powered or powered by IC engines. This one is purely electric. It has additional functionality lacking in other models, including inbuilt dynamic lateral stability and slosh control to prevent "gerbiling" or tumbling in aggressive braking or acceleration maneuvers. The diwheel also incorporates a unique feature that allows the rider to drive the vehicle when "upside down" - keeping the vehicle in its unstable state is achieved using a combined swingup and inversion controller. The mechanical design and some of the electronics was completed in 2009, with the majority of the electronics and control systems developed in 2010. A photograph of the final system is shown below.
YouTube video highlighting the outcomes from 2010
Project Deliverables 2011
Project Deliverables 2010
Project Deliverables 2009