Fuzzy intelligent emotion and instinct control of a robotic unicycle

The study of rider´s postural stability control on a unicycle began from the observation of a human riding on a unicycle with vestibular model as the intelligent biomechanic model which includes instinct and intuition mechanisms. We developed a new biomechanic model with two closed link mechanisms and one turntable to emulate a human riding a unicycle by a robot. Our work is on the improvement of fuzzy control method. Simulation results show that both robot´s longitudinal and lateral postures can be stabilized successfully on basis of AI fuzzy control system