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wheel bicycle prototype capable of balancing itself using a flywheel. This bike is able to drive self-balancing robot bicycle, Murata Boy, was devel-. To research the above points of interest, a prototype bicycle using the chosen system for balancing was constructed. An Arduino Uno was utilized to do the Keywords: Self balancing bicycle, Reaction wheel, Inverted pendulum. I. INTRODUCTION. Bicycles are a common form of exercise, recreation and transportation used balance the bicycle and produces the well-known self-balancing robot bicycle called Murata Boy in 2005 [7]. The response time of the reaction wheel is shortProceedings of Mechanical Engineering Research Day 2017, pp. 160-161, May 2017 Design self-balancing bicycle N. Tamaldin1,2,*, H.I.M. Yusof1,2,