Control of Single Wheel Robots

This monograph presents a novel concept of a mobile robot, which is a single—wheel, gyroscopically stabilized robot. The robot is balanced by a spinning wheel attached through a two—link manipulator at the wheel bearing, and actuated by a drive motor. This configuration conveys significant advantages including insensitivity to attitude disturbances, high maneuverability, low rolling resistance, ability to recover from falls, and amphibious capability for potential applications on both land ...