Analysis of actuation and dynamic balancing for a single-wheel robot

We develop a dynamic model of the steering and actuation mechanism of Gyrover, a single-wheel robot which can be considered as a single wheel, actuated through a spinning flywheel attached through a two-link manipulator at the wheel bearing and a drive motor. The spinning flywheel acts as a gyroscope to stabilize the robot, and at the same time it can achieve steering. We develop a dynamic model, investigate its motion equation, and nonholonomic constraints, and present a simulation study. The work is significant in understanding this type of dynamically stable but statically unstable system, and in developing automatic control of the system.