B9 Development and posture control of unicycle robot by pedal motion

Abstract

From the unicycle riding experiment of human, pitching moment, rolling moment and yawing moment that generated by pedal control known to be exerted influence by attitude angle of unicycle, but control algorithm remain to be elucidated. This study tries that manufacture unicycle robot recreating pedaling control of human and recreates stability riding of unicycle by fuzzy inference. This paper reports on result of pitch angle control as initial stage of our work.