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Short Description: A unicycle robot, running on a ball
Coordinator: MatteoMatteucci (
Tutor: Roberto Sannino, Daniele Caltabiano ()
Students: AntonioMicali (
Research Area: Robotics
Research Topic: Robot development
Start: 2011/01/04
End: 2011/09/30
Status: Closed
Level: Ms
Type: Thesis

This project, developed at AST Robotics lab, has produced a unicycle robot, able to stand and move by equilibrating on a ball. The robot actuates 4 omnidirectional wheels through hierarchical PID control system. Most of the electronic components are from ST Microelecronics.

External link A video of the final demo.