The mono-wheel robot with dynamic stabilisation

This article presents a design process of a mono-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 a mono-wheel structure and shows the test rig results for this case. The design of the robot is under patent protection.

► Full mathematical description of the mono-wheel robot kinematics and dynamics.
► Complete design of the mono-wheel robot with a built prototype.
► Simulation performed by connecting Adams multibody with Simulink modelling.
► Dynamic stabilisation during halt and low speed motion implemented and working.