3D dynamic model of the unicycle – unicyclist system

The problem of motion of a unicycle – unicyclist system in 3D is studied. The equations of motion of the system were derived using the Boltzmann-Hamel equations. Automatic generation of the Hamel coefficients eliminates all the difficulties associated with the determination of these equations. Description of the unicycle – unicyclist system dynamical model and simulation results are presented in the paper.