Dynamic Modeling of Single-Wheeled Robot
This paper presents a kind of single-wheeled robot (SWR, unicycle robot). Lagrange approach is used to formulate the dynamic model of the robot moving in 3 dimensions. The result of model simulation is consistent with the physical. The proposed dynamic model provides some theoretical basis for designing and controlling SWR.
X. G. Ruan and Q. Y. Wang, "Dynamic Modeling of Single-Wheeled Robot", Advanced Materials Research, Vols. 383-390, pp. 447-452, 2012