Self Balancing Unicycle

Picture of Self Balancing Unicycle
Following the popularity of our self balancing scooter and the SciChair we decided to try something a little edgier, the Self Balancing Unicycle.

This project reuses a lot of stuff from our previous projects, using an arduino as the brains behind the scenes.

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Step 1: Ready your tools

Picture of Ready your tools
Before we begin lets ensure we have everything we need. For this project you probably want to be fairly comfortable with welding as you need to build a rigid frame.

Additionally you will need:

•Steel square tubing for frame
•24VDC 300W motor
•Arduino UNO - Check your local suppliers or eBay.
•Sabertooth 2x25 Motor Controller ( or a local supplier)
•5 DoF analogue IMU - available on ebay (to be replaced with digital IMU at some point)
•Scooter wheel, sprocket, chain and axle - available as a kit
•Shielded multi core cable for the accelerometer and heavy power cable for the motors
•Deadman switch
•Toggle switch for adjusting balance position.
•DC connector for Arduino.
•DIL pins to suit Arduino
•Double sides tape
•Screws etc
•Drill and drill bits
•Welding equipment and saftey gear
•Soldering iron and solder
•Wire cutter and wire strippers
•Heat shrink and hot air gun to shrink it
fwenzel2 months ago
Where is the code??
ScitechWA (author)  fwenzel1 month ago

Step 7 - Code.
Open the txt file and copy the contents into the Arduino IDE or rename the file extension to .ino

They will not allow a file with .ino on Instructables.

Thanks for the fast answerse, but, in step 7, here in my PC, I could not, found file for download. I think something is wrong here... Please, can someone send me for email the code.
ScitechWA (author)  fwenzel1 month ago


BikeHacker1 month ago


JimRD3 months ago
Where is the code?
ScitechWA (author)  JimRD3 months ago
fwenzel ScitechWA2 months ago
Sorry, but i could not found it...
danaG753 months ago

I have a quick question concerning the toggle switch for balance position.

Are you using a SPDT Rocker Switch and is it monetary?

I also plan on build a unicycle very similar to yours and I'm currently the sourcing parts.

Tyde6 months ago

Super unicycle
I'm also building
I would like to have the dimensions of the frame
to the same

Thank you in advance
gerrymazzotta7 months ago
congratulations on your new tutorial, and thanks for the valuable advice you give.
MaleBuffy7 months ago
What size wheel is that and what size sprocket?
ScitechWA (author)  MaleBuffy7 months ago
It is a 12.5" wheel with a 80 tooth sprocket from
Under wheels.
catoctober7 months ago
Where did you get the wheel, sprocket, chain, and axle kit?
ScitechWA (author)  catoctober7 months ago
They were bought from
jgabuna7 months ago
Awesome project. Looking forward to see a 3 axis self balancing steadicam. :)
Dylon1247 months ago
How much did the arduino cost?
ScitechWA (author)  Dylon1247 months ago
The arduino uno is about $33 AUD on Sparkfun but you can find them for around $12 on ebay.
PLEASE use a standalone arduino!
Crotus2k7 months ago
Of all the cool gadgets I saw on TV, cartoons and in comics growing up, I would not have guessed that B.C.'s ride would ever be made into reality. You guys are great. Keep building stuff just because.
ced787 months ago

Great, I'd like more details on the construction of the frame Self Unicycle
ribs, material, etc.
Looks cool, but... video?
ScitechWA (author)  fungus amungus7 months ago
A gross oversight. Video is up now.
bob30307 months ago
Cool. I like arduino and Mobility devices. Great way to make a unicycle that Segwayed into a robotic mobility device. (sorry for the humor attempt). Thanks for posting.
wilgubeast7 months ago
Cool project, and that final note on testing is fantastic.
jxross7 months ago
Everyone is thinking it so I'm gonna' just say it:

The first photo just looks "wrong".

ScitechWA (author)  jxross7 months ago
What has been seen, cannot be unseen.

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