Support control to promote skill of riding a unicycle

In this paper, we propose control system which supports unicycle operation for human´s skill up. Therefore, the unicycle operation analysis method is proposed first, and it is shown usefulness by experiment. The element used for analysis are rider´s CP (Center of Pressure) and MBP (Moment Balancing Point) which negates a saddle rotation moment. Using those elements, we propose evaluation method of unicycle rider´s operation. Dynamic unicycle simulator is used for supports unicycle operation for human´s skill up.