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Dynamics of the Unicycle: Modelling and Experimental Verification
Paperback
Series: Springerbriefs in Applied Sciences and Technology
Technology & EngineeringPhysics
ISBN13: 9783319953830
Publisher: Springer
Published: Jul 16 2018
Pages: 77
Weight: 0.31
Height: 0.19 Width: 6.14 Depth: 9.21
Language: English
This book presents a three-dimensional model of the complete unicycle-unicyclist system. A unicycle with a unicyclist on it represents a very complex system. It combines Mechanics, Biomechanics and Control Theory into the system, and is impressive in both its simplicity and improbability. Even more amazing is the fact that most unicyclists don't know that what they're doing is, according to science, impossible - just like bumblebees theoretically shouldn't be able to fly.
The aim of control is to maintain the unicycle-unicyclist system in an unstable equilibrium around a given angular position. The control system, based on LQ Regulator, is applied in Wolfram Mathematica.
Lastly, experimental validation, 3D motion capture using software OptiTrack - Motive: Body and high-speed cameras are employed to test the model's legitimacy. The description of the unicycle-unicyclist system dynamical model, simulation results, and experimental validation are all presented in detail.
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