Combining off-the-shelf components with 3D-printing, the Wheelbot is a symmetric reaction wheel unicycle that can jump onto its wheels from any initial position. With non-holonomic and under-actuated dynamics, as well as two coupled unstable degrees of freedom, the Wheelbot provides a challenging platform for nonlinear and data-driven control research. This paper presents the Wheelbot's mechanical and electrical design, its estimation and control algorithms, as well as experiments demonstrating both self-erection and disturbance rejection while balancing.

翻译：结合市售组件与3D打印技术，Wheelbot是一款对称式反作用轮独轮车，能够从任意初始位置跳跃至其轮子上。由于具有非完整约束和欠驱动动力学特性，并包含两个耦合的不稳定自由度，Wheelbot为非线性及数据驱动控制研究提供了具有挑战性的实验平台。本文介绍了Wheelbot的机械与电气设计、其估计与控制算法，以及展示自竖起和平衡状态下抗干扰能力的实验。