외바퀴 이동로봇 제어 및 설계

This paper presents the implementation and control of a single wheeled mobile robot whose structure is similar to the unicycle. To detect the balancing angle, gyro and tilt sensor are used with filters. Although the single wheeled robot is designed to navigate on the terrain, current state of the robot is to move forward and backward without falling. Latter direction control of the robot is also tested to maintain balancing by winds generated by two pans attached to the arm end.