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Dynamics modeling and postural stability control of a unicycle robot

This paper presents a dynamic model of a unicycle robot which consists of a wheel and two momentum wheels. However, the dynamic model of the unicycle robot built in this paper is non-linear. By expanding the non-linear items in Taylor series around an equilibrium point, the non-linear dynamic model of the unicycle robot is linearized. And the linearized dynamic model of the unicycle robot is simplified into state equation. Based on the linearized state equation, a state feedback algorithm is designed to maintain postural stability of the unicycle robot. After completing the postural stability control algorithm, a simulation model is developed using Simulink. The capability and performance of the algorithm is verified.