Chun-Ting Ke

Point-to-point motion control of a unicycle robot: Design, implementation, and validation

This paper presents the design, implementation, and validation of balance control and point-to-point motion control of a single-wheeled (unicycle) robot. The robot consists of a wheel, a body, a reaction wheel, and a turntable. The wheel is used to move the robot forward and backward to obtain longi…