{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,10]],"date-time":"2026-04-10T16:37:00Z","timestamp":1775839020370,"version":"3.50.1"},"reference-count":12,"publisher":"Cambridge University Press (CUP)","issue":"3","license":[{"start":{"date-parts":[[2015,9,2]],"date-time":"2015-09-02T00:00:00Z","timestamp":1441152000000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2017,3]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Lateral-pendulum unicycle robot is a type of single-wheeled mobile robot which utilizes an inverted pendulum mounted laterally for its stabilization and control. Even though this concept was first mentioned in the 1980s, it has not been sufficiently explored especially from the theoretical point of view. Therefore, this robot represents a niche which is still open for more thorough research. This paper presents four contributions to the research of this particular robot. First, the complete model of the robot dynamics is derived and this model can facilitate more accurate study of the robot's static and dynamic behaviors. Secondly, two important constants namely (1)<jats:italic>lateral-statics boundary<\/jats:italic>and (2)<jats:italic>lateral-statics constant<\/jats:italic>, which are useful for the lateral stabilization, are derived and analyzed. Thirdly,<jats:italic>turning constant<\/jats:italic>, required for the control of the turning motion, is derived and used to study the achievable path curvature in maneuvering control. Lastly, dynamics couplings during steady linear motion and steady circular motion are studied and the necessity of integral action in the lateral controller for circular motion is shown and explained. Throughout this paper, numerical simulation is used intensively and two case studies are presented to illustrate the concepts.<\/jats:p>","DOI":"10.1017\/s0263574715000703","type":"journal-article","created":{"date-parts":[[2015,9,2]],"date-time":"2015-09-02T06:27:34Z","timestamp":1441175254000},"page":"537-568","source":"Crossref","is-referenced-by-count":12,"title":["Dynamic modeling and characteristics analysis of lateral-pendulum unicycle robot"],"prefix":"10.1017","volume":"35","author":[{"given":"Yohanes","family":"Daud","sequence":"first","affiliation":[]},{"given":"Abdullah","family":"Al Mamun","sequence":"additional","affiliation":[]},{"given":"Jian-Xin","family":"Xu","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2015,9,2]]},"reference":[{"key":"S0263574715000703_ref12","doi-asserted-by":"publisher","DOI":"10.1109\/70.631232"},{"key":"S0263574715000703_ref1","unstructured":"A. Schoonwinkel , Design and Test of a Computer Stabilized Unicycle Ph.D. Thesis (Stanford University, 1987)."},{"key":"S0263574715000703_ref8","doi-asserted-by":"publisher","DOI":"10.1109\/MCS.2006.1700041"},{"key":"S0263574715000703_ref5","doi-asserted-by":"crossref","unstructured":"M. W. Spong , \u201cSwing-up control of the Acrobot,\u201d IEEE International Conference on Robotics and Automation (1994).","DOI":"10.1109\/ROBOT.1994.350934"},{"key":"S0263574715000703_ref4","unstructured":"J.-X. Xu , A. Al Mamun , Y. Daud , \u201cPendulum-Balanced Autonomous Unicycle: Conceptual Design and Dynamics Model,\u201d Proceedings of the 5th IEEE International Conference on Robotics, Automation and Mechatronics, Qingdao, China (2009)."},{"key":"S0263574715000703_ref2","doi-asserted-by":"crossref","unstructured":"D. W. Vos and A. H. von Flotow , \u201cDynamics and Nonlinear Adaptive Control of an Autonomous Unicycle: Theory and Experiments,\u201d Proceedings of 29th Conference on Decision and Control, Honolulu, Hawaii, USA (1990).","DOI":"10.1109\/CDC.1990.203573"},{"key":"S0263574715000703_ref7","doi-asserted-by":"crossref","unstructured":"R. Nakajima , T. Tsubouchi , S. Yuta and E. Koyanagi , \u201cA Development of a New Mechanism of an Autonomous Unicycle,\u201d Proceedings of IROS (1997).","DOI":"10.1109\/IROS.1997.655117"},{"key":"S0263574715000703_ref11","doi-asserted-by":"crossref","unstructured":"Y. Fujimoto and S. Uchida , \u201cThree dimensional posture control of mono-wheel robot with roll rotatable torso,\u201d Proceedings of International Conference on Mechatronics, Kumamoto, Japan (2007).","DOI":"10.1109\/ICMECH.2007.4280051"},{"key":"S0263574715000703_ref9","doi-asserted-by":"crossref","unstructured":"S. Majima , T. Kasai and T. Kadohara , \u201cA design of a control method for changing yaw direction of an underactuated unicycle robot,\u201d Proceedings of TENCON (2006).","DOI":"10.1109\/TENCON.2006.343954"},{"key":"S0263574715000703_ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2010.2054102"},{"key":"S0263574715000703_ref6","volume-title":"Robot Modeling and Control","author":"Spong","year":"2005"},{"key":"S0263574715000703_ref10","unstructured":"S. Y. Seo , S. Hee Kim , S.-H. Lee , S. H. Han and H. Sung Kim , \u201cSimulation of Attitude Control of a Wheeled Inverted Pendulum,\u201d International Conference on Control, Automation and Systems (2007)."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574715000703","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,8,29]],"date-time":"2019-08-29T22:56:28Z","timestamp":1567119388000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574715000703\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2015,9,2]]},"references-count":12,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2017,3]]}},"alternative-id":["S0263574715000703"],"URL":"https:\/\/doi.org\/10.1017\/s0263574715000703","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2015,9,2]]}}}