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Jascha van Pommeren created the Unibot, a robot that pivots on a single wheel.
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October 8th, 2007
[...] Unibot – 3D Stabilization [Hacked Gadgets] [...]
October 8th, 2007
Nifty.
December 4th, 2008
Pretty cool!
Now what you need to add is a third wheel, with a vertical axis, to provide directional control.
Scale it up, and add a platform to stand on.
Kind of awkward with those spinning wheels, but some clever packaging — maybe multiple smaller, or higher speed and smaller, wheels might be used for the non-contact rotating masses.
April 11th, 2011
Hi, first of all well done! you have got a very stable controller. I’m a university student and would like I’m building a reaction wheel inverted pendulum and I’m having some trouble getting the mathematical model. My setup is similar to your. I woulb be glad if you could help
regards
Matt.