C24 Pitch angle control and velocity control of pedaling unicycle robot with fuzzy reasoning

Abstract

Unicycle is dynamically unstable system. However, Human can stabilize posture of unicycle. It is difficult to clarify control algorithm. Therefore, the purpose of this study is to develop a unicycle robot for emulating a human riding behavior and to stabilize posture of the unicycle robot. From the unicycle riding experiment of a human, pitching moment, rolling moment, yawing moment that generated by pedal control known to be exerted influence by posture angle of unicycle. However, control algorithm remains to be elucidated. We manufactured unicycle robot recreating pedal motion of a human. This paper reports on result of pitch angle control as initial stage of our work.