Journal of Theoretical
and Applied Mechanics

50, 1, pp. 99-118, Warsaw 2012

A self-stabilising multipurpose single-wheel robot

Tomasz Buratowski, Patryk Cieślak, Mariusz Giergiel, Tadeusz Uhl
This article presents a design process of a single-wheel robot which consists of building a theoretical model, designing a mechanical structure, simulating the design, building a prototype and testing it. It describes the control strategy for this vehicle, developed during the simulation process, and how it works for a ready built prototype. It mainly focuses on the self-stabilisation problem encountered in the single-wheel structure and shows the test rig results for this case. The design of the robot is under patent protection.
Keywords: single-wheel robot; nonholonomic single-wheel robot; stabilization; control design