Unicycle maths, physics & robots, a collection of references.
|A recent thread
on rec.sport.unicycling titled "How do you turn corners"
developed into a discussion of some of the maths & physics behind
|The posts in the
long thread above that are focused on the physics are:
Gauss: Explains where the non gyroscopic forces come from to enable a unicyclist to make a smooth continuous turn:
Gauss: Explains the role of gyroscopic forces in relation to a unicyclist making a smooth continuous turn:
|Stay on or fall off -- "Unicycling and Bifurcations" 12 pages of mathematics.
R. C. Johnson, Department of Mathematical Sciences, University of Durham, England.
|Postural Stability of a Human Riding a
Unicycle and Its Emulation by a Robot
Zaiquan Sheng and Kazuo Yamafuji
[IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, VOL. 13, NO. 5, OCTOBER 1997]
These guys built a unicycling robot designed to emulate a human rider.
Picture and (v.short) video
|Loony Cycle is a single-wheeled cycling robot
thread by Wolfgang Schebeczek references additional literature about the
physics of unicycling & unicycling robots, unfortunately I do not know
of an on-line copy of any of the references quoted.
|The following link has further links to good technical
explanations of counter steering as related to bicycles:
The reference also links to David E. H. Jones' paper on The Stability of The Bicycle. This paper is a good reference for understanding why bicycle stability is
fundamentally different to unicycle "stability".
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Last updated October 22 2002