A friend of me sent me a copy of a scientific paper named: “Study on the
stability and motion control of a Unicycle (Part I: Dynamics of a Human Riding a
Unicycle and its modeling by link mechanisms)”.
I’m not an expert in mecanics, but reading this article if interessant,
especially introduction and conclusion. Theory and equation are a little beat to
ununderstandable (?) for me. The aim of the work is to understand how does a
human ride a uni, simulate it on a computer, and build a robot which can do it
(good luck guys !). But they are just studying two feet forward riding. What
about one foot backward ?
In the article, there is few references to other works about unicycle mechanic
theory, including a Ph D Thesis from A Schoonwinkel, from the Stanford
Autors of the article are SHENG and YAMAFUJI, and references are: JSME
International Journal, Series C, Vol. 38, No. 2, 1995.
Still on top, without computer…