Unicycle Balancing Robot

From Robot Square – A new type of Segway . . . but it’s missing a wheel!  A self-balancing LEGO MINDSTORMS unicycle!

You’d think I’d be bored with self balancing robots by now but I’m not! The Technic Unimog has huge wheels and I thought I might as well put them on Anyway. Then I thought that one wheel might be enough to stay up right, and it was. I know this is not a true unicycle, but it fits the definition. “u·ni·cy·cle, Noun: A cycle with a single wheel, typically used by acrobats.” Either way, a fun experiment. . .

You can see the rest of the post here:  http://robotsquare.com/2012/03/16/unicycle/