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In this chapter, a complete model of the unicycle-unicyclist system is introduced. The classical mechanics approach based on Euler angles and the Boltzmann–Hamel equation is applied to derive the equations of motion. To identify the geometry of the system, 3-D scans of the unicyclist body were made. In tyre modelling, the Pacejka theory is used. Additionally, the control performed by unicyclist to maintain the vertical position is considered.
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