The lateral-balancing problem of a single-wheel based robot system has been presented. The basic configuration of the system uses the gyroscopic effect which generates the yawing force as a control input. The friction combined with yawing force enables a robot system to maintain the lateral balance. Although this horizontal configuration gives a better pitching stability to the body system, enough friction and momentum must be guaranteed to perform the successful control task. To make a power-efficient system…
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