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This paper presents and discusses the Assumption University unicycle (hereafter referred to as AU unicycle). The AU unicycle was built on campus, and it can work in two modes: balancing control and riding control. A gyroscope and an accelerometer sensor are used as sensors to sense the balancing position of the unicycle. A DC motor equipped with a gear set, sprockets, and a chain acts as an actuator to operate the wheel of the unicycle system. The main contribution and the objective of this paper are to demonstrate the implementation methodology and the balancing and riding control methods of the AU unicycle. The experiments on the AU unicycle show good results for both the balancing control method and the riding control method.

AU DIY-Unicycle Balancing and Riding System (AU DIY-UBRS)