Autonomous self-balancing unicycle

Bachelor Thesis at Chalmers University of Technology


A project involving the development and testing of a mechanical instability robot from concept to a final product that could balance freely on a rope/bar. The final product was made ​​from a framework of aluminum and used gyroscopic sensors, accelerometers and position sensors as inputs to two separate control systems which managed the balancing of the robot in two dimensions.

There where six people managing this project;

  • Me
  • Marko Cotra
  • Raman Haddad
  • Mandus Jeber
  • Jonas Kristiansen
  • Albin Remäng