Realization of a human riding a unicycle by a robot

摘要

The authors describe a unicycle robot. By using a new method for detecting the posture of the robot in three dimensions, the authors conducted experiments on this robot under the proposed control method. The robot's posture is stabilized successfully both in longitudinal and in lateral directions in three dimensions. And the experimental results show that the proposed model and control method are effective and active for emulating a human riding a unicycle system. The authors believe that this is the first complete success in emulating a human riding a unicycle by a robot in the world.