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A single-wheel mobile robot called Gyrocycle has been developed for carrying a human driver. Since a single-wheel mobile robot carries a human driver, the size and weight are designed to be larger compared with other single-wheel mobile robots. To maximize the balancing force, Gyrocycle is designed to have two flywheels required to be synchronized. Since a simple PD control lacks the robusteness,...
A single-wheel mobile robot called GYROBO has been developed for many years to test the balancing control performance. Control of a single-wheel mobile robot is quite challenging so that many problems occurred during the control operation have to be solved. One of typical problems for the robot is to regulate the angle of the gimbal system not to lean one direction all the way. Eventually, this results...
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