A one-wheeled robot is modeled by a gyrostat consisting of a heavy disk with a balanced rotating flywheel.

The disk rolls without sliding on a fixed absolutely rough plane. One can see the different regimes of uncontrolled robotic motion by changing the flywheel angular momentum and the initial conditions of motion. The trajectory of the contact point and the plot of the plane normal reaction at the contact point are shown. The steady motions are presented in the bookmarks. Negative vertical reaction means that the solution of the equations of motion is not physically realizable.