A physics simulation featuring self-balancing unicycles with ragdoll riders. Each unicycle attempts to maintain balance using PID controllers that adjust wheel motor speed based on frame angle and velocity. The system uses cascaded control loops - a velocity controller determines target tilt angle, and an angle controller drives wheel rotation to maintain balance.
An interactive 2D physics simulation by Dimitris, running in the browser on Physion. Nothing to install. Open it to run the simulation, change any object's properties, or copy it into a scene of your own.
Tags: Ragdoll, Unicycle, Race, PID Controller