# The Wheelbot: A Jumping Reaction Wheel Unicycle

arXiv: https://arxiv.org/abs/2207.06988 · HTML: https://mlsanity.com/paper/2207.06988/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 14 Jul 2022.

## Built on by (most cited first, 2 of 2)

- [The Mini Wheelbot: A Testbed for Learning-based Balancing, Flips, and Articulated Driving](https://mlsanity.com/paper/2502.04582/) (2025)
- [Combining Slow and Fast: Complementary Filtering for Dynamics Learning](https://mlsanity.com/paper/2302.13754/) (2023)

## Abstract (arXiv)

Combining off-the-shelf components with 3D-printing, the Wheelbot is a symmetric reaction wheel unicycle that can jump onto its wheels from any initial position. With non-holonomic and under-actuated dynamics, as well as two coupled unstable degrees of freedom, the Wheelbot provides a challenging platform for nonlinear and data-driven control research. This paper presents the Wheelbot's mechanical and electrical design, its estimation and control algorithms, as well as experiments demonstrating both self-erection and disturbance rejection while balancing.