目次

PRELIMINARY:1 Introductions  1.1 Unicycle - one wheel vehicle  1.2 Types of the unicycles  1.3 Unicycle in technical aspect  2 Literature Survey  3 Motivations  4 Euler angles  5 The model of the Unicycle-Unicyclist System  6 The parameters of the model  6.1 The unicycle parameters  6.2 Unicyclist's parameters and biomechanics  7 The Tyre modelling  7.1 Tyre stiness coecient . 7.2 Pacejka's Magic Formula  8 Boltzman-Hammel Equations  9 Energy of the system  10 Equations of the model dynamics  11 The control system  12 Numerical Simulations  13 Experimental validation of the model  13.1 2D motion capture  13.2 3D motion capture  14 Conclusions