And some people can even ride unicycles – cycles with only one wheel!
He proposed an extension of kinematic-based control laws to the case of a mobile manipulator equipped with a wheeled platform (unicycle) and a manipulator.
The unicycle like robot presents the advantages of high mobility, high traction with pneumatic tires, and a simple wheel configuration.
This is the nonholonomic constraint of the unicycle robot.
This method is illustrated on the unicycle robot and the inverted pendulum.
This paper addresses the problem of following the contour of unknown objects with unicycle-like mobile robots.
We chose the unicycle model for its simplicity.
Section 2 presents the unicycle-like mobile robot kinematics.
