Single-wheel mobile robots have emerged as an alternative to multi-wheel robots due to their compact size and motion flexibility. These characteristics could potentially enable single-wheel robots to be used for search and rescue, exploration and carrying loads in reduced spaces. In this work, the design and dynamic coupled model of a novel single-wheel pendulum robot are presented. Both issues are validated by numerical simulations and the obtained results show the viability for the practical implementation of the proposed design and for the development of control algorithms for robot motion.
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