Technical Review e-Book: Summary

Development of UNI-CUB

Article of Honda R&D Technical Review Vol.27 No.1


Honda has been engaging in development efforts aimed at new personal mobility that allows people to move in harmony with others in indoor spaces, facilities, and other such places where there are people coming and going.
In 2009, Honda announced the U3-X, in 2012 the UNI-CUB, and then in 2013 the UNI-CUB β.
All these are personal mobility devices capable of movement in all directions, which are also sit-on style, inverted pendulum-type, compact devices that fit between the rider’s legs.
This paper describes the technological evolution of the UNI-CUB, which uses the Honda Omni Traction Drive System adopted since the U3-X that enables movement in all directions. This paper will also introduce the implementation in society of this new form of mobility known as the UNI-CUB. The demonstration tests carried out with the National Museum of Emerging Science and Innovation starting in June 2012.


(1) Emura, T., Sakai, T.: Handouryoku ni yotte Ritui wo ijisuru Touritsu-shinshi no Kenkyu, Society of Biomechanisms Japan, Biomechanisms, No. 2, p. 312-328 (1973) (in Japanese)
(2) Ohnishi, N., Ito, K., Tsuchiya, K., Ito, M.: Shintai-undouji no Gyaku-outou no Rironteki-kousatsu, Journal of The Society of Biomechanisms, Vol. 3, No. 4, p. 21-25 (1979) (in Japanese)
(3) Emura, T., Hyon, S.: Development of Dynamic Biped Robots Launched from Inverted Pendulum, Journal of the Robotics Society of Japan, Vol. 23, No. 4, p. 418-421 (2005) (in Japanese)
(4) Tenohira de Houki wo Touritsu saseru Genri, NIKKEI MECHANICAL, 1989-12-25, p. 94-95 (1989) (in Japanese)
(5) Tsuruga, T.: Touritsu-shinshi gata Norimono (1) Fantasy Bike, Journal of the Robotics Society of Japan, Vol. 8, No. 3, p. 364 (1990) (in Japanese)
(6) Tsuruga, T.: Touritsu-shinshi gata Norimono (2) Ikkyu-sha, Journal of the Robotics Society of Japan, Vol. 8, No. 3, p. 365 (1990) (in Japanese)
(7) Ha, Y. S., Yuta, S.: Trajectory tracking control for navigation of self-contained mobile inverse pendulum, Proc. IEEE/RSJ Int’l. Conf. on Intelligent Robots and Systems, p. 1875-1882 (1994)
(8) Nguyen, H. G., Morrell, J., Mullens, K. Burmeister, A. B., Miles, S., Farrington, N., Thomas, K. M., Gage, D. W.: Segway Robotic Mobility Platform, Proc. of SPIE - The International Society of Optics Engineering, 5609, Mobile Robots XVII (2004)
(9) Endo, T., Nakamura, Y.: An omnidirectional vehicle on a basketball, Proc. The 12th Int’l Conf. on Advanced Robotics (ICAR), p. 573-578 (2005)
(10) Lauwers, T. B., Kantor, G. A., Hollis, R. L.: A Dynamically Stable Single-Wheeled Mobile Robot with Inverse Mouse-Ball Drive, Proc. IEEE Int’l. Conf. on Robotics and Automation (ICRA 2006), p. 2884-2889 (2006)
(11) Kumagai, M., Ochiai, T.: Development of a Robot Balancing on a Ball, Proc. International Conference on Control, Automation and Systems 2008, p. 433-438 (2008)
(12) Yada, W., Kobashi, S., Hasegawa, M., Shirokura, S., Yokoi, M., Masuda, A.: Proving Evaluations of Inverted Pendulum Type Personal Mobility (First Report), JSAE Annual Congress Proceedings, No. 16-13, p. 11-14 (2013) (in Japanese)
(13) Nozoe, S., Sakamaki, T., Kobayashi, N., Sasaki, K., Kobashi, S., Hasegawa, M., Sueda, K.: Report of the demonstration experiment, Miraikan Exhibition Report, Vol. 9 (2014)

Author (organization or company)

Wataru YADA(Smart Mobility Development Division)、Yoshiki TATSUTOMI(Smart Mobility Development Division)、Makoto HASEGAWA(Smart Mobility Development Division)

We would like to get your opinion on this research paper. (This is only applicable to registered members.)

The readers of this research paper have also selected these research papers.

Development of New ASIMO – Realization of Autonomous Machine –
Article of Honda R&D Technical Review Vol.24 No.1
Technology for Realization of Gasoline Engine Brake Thermal Efficiency of 45%
Article of Honda R&D Technical Review Vol.27 No.2
Development of Robotic Lawnmower Miimo
Article of Honda R&D Technical Review Vol.25 No.2