@article{geist2022wheelbot,
  title = {The Wheelbot: A Jumping Reaction Wheel Unicycle},
  journal = {IEEE Robotics and Automation Letters},
  abstract = {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 letter 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.},
  volume = {7},
  number = {4},
  pages = {9683--9690},
  publisher = {IEEE},
  month = oct,
  year = {2022},
  author = {Geist, A. René and Fiene, Jonathan and Tashiro, Naomi and Jia, Zheng and Trimpe, Sebastian},
  doi = {10.1109/LRA.2022.3192654},
  url = {https://sites.google.com/view/wheelbot},
  month_numeric = {10}
}