Patent ID: 8346390

Claim:
A single wheel robot system, including a mechanical body and a control system; the mechanical body including a metal frame rigid body, a modular robotic head and neck which comprises two-dimensional PTZ, and a detachable robot arm, an end of the detachable arm being a multi-fingered robot hand; wherein upper balance components and lower balance components constitute a balance control structure, the lower balance components include a balanced single wheel and a single wheel motor, the upper balance components include an inertia flywheel and a flywheel motor; the control system comprising state sensors, a motion controller and two servo-drive controllers and a power supply system, wherein the state sensors include attitude sensors and speed sensors; the motion controller receives a signal from the state sensors and, then, issues a control instruction through a control procedure and the signal; the two servo-drive controllers receive the control instruction and, respectively, through the single wheel motor and the flywheel motor, control rotation of the single wheel and the inertia flywheel to balance the robot; wherein a shaft of the inertia flywheel is pointing at forward and backward direction; an adjustable debugging support is designed around the single wheel, all around the debug support is a removable caster.