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About

Yohanes Daud is a robotics and control systems researcher whose work centers on the design, modeling, and autonomous control of unconventional mobile robotic platforms. He is best known for his pioneering investigations into the lateral-pendulum unicycle robot — a single-wheeled mobile robot that achieves balance and steering through the sideward swinging of an inverted pendulum. His landmark 2015 paper on dynamic modeling and characteristics analysis of this platform, which has garnered 11 citations, provided one of the most thorough theoretical treatments of a concept that had remained largely unexplored since its introduction in the 1980s. Through his development of the Automatic Lateral-Pendulum Unicycle (ALP Cycle), Daud tackled some of the most demanding challenges in underactuated robotic systems, including lateral stabilization, longitudinal control, and coupled multi-degree-of-freedom dynamics — all managed with just two actuators. His contributions span dynamic modeling, gain-scheduling-based cascade and combined control structures, and mode-decoupled steering strategies, collectively accumulating over 25 citations. His research is particularly valuable for students and engineers working at the intersection of nonlinear control theory and autonomous robotics, offering both theoretical frameworks and practical insights into stabilizing inherently unstable, underactuated mechanical systems.